Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip
Figure 8
A planetary rover is traversing perpendicularly on a 15° slope deformable terrain. (a) Position of center of mass; (b) slip with/without control; (c) error of displacement with/without control; (d) driving torque of six wheels with/without slip control; (e) draw-bar pull of six wheels with/without slip control.
