Novel Robust Control Strategy for the Mechanical Legs of Lunar-Based EquipmentSource: Journal of Aerospace Engineering:;2023:;Volume ( 036 ):;issue: 006::page 04023061-1Author:Zheng-Han Chen
,
Zhao-Dong Xu
,
Hong-Fang Lu
,
Deng-Yun Yu
,
Jian-Zhong Yang
,
Bo Pan
,
Xue-Liang Zhao
,
Zhong-Wei Hu
,
Sheng-Chao Zhen
DOI: 10.1061/JAEEEZ.ASENG-4988Publisher: ASCE
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 p-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.
|
Collections
Show full item record
contributor author | Zheng-Han Chen | |
contributor author | Zhao-Dong Xu | |
contributor author | Hong-Fang Lu | |
contributor author | Deng-Yun Yu | |
contributor author | Jian-Zhong Yang | |
contributor author | Bo Pan | |
contributor author | Xue-Liang Zhao | |
contributor author | Zhong-Wei Hu | |
contributor author | Sheng-Chao Zhen | |
date accessioned | 2023-11-27T23:05:51Z | |
date available | 2023-11-27T23:05:51Z | |
date issued | 7/18/2023 12:00:00 AM | |
date issued | 2023-07-18 | |
identifier other | JAEEEZ.ASENG-4988.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4293285 | |
description 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 p-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. | |
publisher | ASCE | |
title | Novel Robust Control Strategy for the Mechanical Legs of Lunar-Based Equipment | |
type | Journal Article | |
journal volume | 36 | |
journal issue | 6 | |
journal title | Journal of Aerospace Engineering | |
identifier doi | 10.1061/JAEEEZ.ASENG-4988 | |
journal fristpage | 04023061-1 | |
journal lastpage | 04023061-16 | |
page | 16 | |
tree | Journal of Aerospace Engineering:;2023:;Volume ( 036 ):;issue: 006 | |
contenttype | Fulltext |