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| 可减小跟踪误差的月球探测车协调驱动模糊自适应控制 | |
| 引用本文： | 孙多青,马晓英,杨晓静,俞百印,邵香媛.可减小跟踪误差的月球探测车协调驱动模糊自适应控制[J].空间控制技术与应用,2008,34(5):12-16. |
| 作者姓名： | 孙多青 马晓英 杨晓静 俞百印 邵香媛 |
| 作者单位： | 1. 河北科技师范学院数理系,秦皇岛,066004;河北科技师范学院数学与系统科学研究所,秦皇岛,066004 2. 河北科技师范学院数学与系统科学研究所,秦皇岛,066004;河北科技师范学院图书馆,秦皇岛,066004 3. 河北科技师范学院数理系,秦皇岛,066004 |
| 基金项目： | 河北科技师范学院博士基金项目(2006D003); 国家自然科学基金资助项目(60874055) |
| 摘 要： | 针对六轮月球探测车的协调驱动控制问题,提出一种间接模糊自适应控制设计方案。基于Lyapunov方法,证明所设计的控制方案不但能使跟踪误差收敛到原点的小邻域内,而且通过适当增大设计参数的值,可减小跟踪误差,从而提高控制精度。通过对月球探测车的协调驱动控制的仿真研究验证了此方法的有效性。 |
| 关 键 词： | 月球探测车 自适应控制 模糊控制 精度 非线性系统 |
Fuzzy Adaptive Concerted Driving Control for Lunar Rover with Reduced Tracking Errors |
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| SUN Duoqing,MA Xiaoying,YANG Xiaojing,YU Baiyin,SHAO Xiangyuan.Fuzzy Adaptive Concerted Driving Control for Lunar Rover with Reduced Tracking Errors[J].Aerospace Contrd and Application,2008,34(5):12-16. | |
| Authors: | SUN Duoqing MA Xiaoying YANG Xiaojing YU Baiyin SHAO Xiangyuan |
| Institution: | 1.Department of Mathematics and Physics;Hebei Normal University of Science and Technology;Qinhuangdao 066004;China;2.Institute of Mathematics and Systems Science;Hebei Normal Universityof Science and Technology;Qinhuangdao 066004;China;3.Library;Hebei Normal University ofScience and Technology;Qinhuangdao 066004;China |
| Abstract: | A novel indirect adaptive fuzzy control scheme is proposed for the concerted driving control of six-wheel lunar rover.Based on the Lyapunov theory,it is proven that the designed scheme not only makes the tracking errors converge to a small neighborhood of the origin,but also reduces the tracking errors through increasing the value of designed parameters,and the control accuracy is improved.Simulation results on the concerted driving control of lunar rover verify the efficiency of the approach proposed. |
| Keywords: | lunar rover adaptive control fuzzy control accuracy nonlinear system |
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