Novel Robust Control Strategy for the Mechanical Legs of Lunar-Based Equipment
Publication: Journal of Aerospace Engineering
Volume 36, Issue 6
Abstract
Research on the movement of lunar-based equipment is an essential subject in lunar exploration. The uncertainties of the complex lunar surface environment affect the steady movement of lunar-based equipment. In this paper, a novel robust control strategy, namely model-based -sectionalized control strategy (MPS control), is proposed for the mechanical legs of lunar-based equipment to maintain stability. The novel robust controller is designed based on the dynamic model of the mechanical leg and the controller is proven theoretically based on Lyapunov stability theory. A numerical simulation and the real-time experiment were carried out, and traditional controllers are introduced in the comparison. The results of both the simulation and the experiment verify the effectiveness of the proposed controller.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This study was financially supported by the “Study on Fundamental Theories and Key Technologies in Autonomous Operation and Multi-Robot Coordination of Lunar-Based Equipment” through Grant No. U2037602, Program of Chang Jiang Scholars of Ministry of Education, Science Discovery Award of Tencent Foundation, and the Postgraduate Research and Practice Innovation Program of Jiangsu Province through Grant No. KYCX21_0114.
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Published In
Journal of Aerospace Engineering
Volume 36 • Issue 6 • November 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Nov 27, 2022
Accepted: May 16, 2023
Published online: Jul 18, 2023
Published in print: Nov 1, 2023
Discussion open until: Dec 18, 2023
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