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

Table 1

Resistance coefficient RC and fitting error.

Terrain		Fitting error		Fitting error
Wh31 (soil)	0.09378	0.0055	0.2641	0.0168
Wh32 (silt)	0.15759	0.0038	0.2524	0.0117
Wh33 (snow)	0.12167	0.0040	0.2258	0.0125
Wh21 (field)	0.10024	0.0075	0.2485	0.0252
Wh21 (desert)	0.17135	0.0048	0.2302	0.0148
Wh21 (lunar soil)	0.13463	0.0044	0.2006	0.0126