Table of Contents
Advances in Aerospace Engineering
Volume 2014, Article ID 620890, 10 pages
http://dx.doi.org/10.1155/2014/620890
Research Article

Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip

School of Mechanical Instrumental Engineering, Harbin Institute of Technology, Harbin 150001, China

Received 23 May 2014; Accepted 29 July 2014; Published 3 September 2014

Academic Editor: Kemao Peng

Copyright © 2014 Li Zhengcai and Wang Yang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Mobility control is one of the most essential parts of planetary rovers’ research and development. The goal of this research is to let the planetary rovers be able to achieve demand of motion from upper level with satisfied control performance under the rough and deformable planetary terrain that often lead to longitudinal slip. The longitudinal slip influences the mobility efficiency obviously, especially on the major deformable slopes. Compared with the past works on normal stiff terrains, properties of soil and interaction between wheels and soil should be considered additionally. Therefore, to achieve the final goal, in this paper, wheel-soil dynamic model for six-wheel planetary rovers while climbing up deformable slopes with longitudinal slip is first built and control based in order to account for slip phenomena. These latter effects are then taken into account within terramechanics theory, relying upon nonlinear control techniques; finally, a robust adaptive fuzzy control strategy with longitudinal slip compensation is developed to reduce the effects induced by slip phenomena and modeling error. Capabilities of this control scheme are demonstrated via full scale simulations carried out with a six-wheel robot moving on sloped deformable terrain, whose real time was computed relying uniquely upon RoSTDyn, a dynamic software.