One Improved Generalized Predictive Motion Controller Based on Slipping Constrains for the Six-Wheeled Rocker Mars Rover

Autor:	Qixin Cao, Yan Wen Huang, Chun Tao Leng
Rok vydání:	2013
Předmět:	Engineering business.industry Stability (learning theory) Motion controller Terrain General Medicine Kinematics Motion control Mars rover Control theory Robot business Slipping Simulation
Zdroj:	Applied Mechanics and Materials. :111-116
ISSN:	1662-7482
Popis:	Mars Rover works in a complicated environment with uneven terrain. In order to improve the robot’s dynamic motion ability, traversability and stability, in this paper, an improved generalized predictive motion controller was denoted based on the analysis of the robot’s kinematic model and slipping constrains. The experiments demonstrate the feasibility of the control algorithm for the six-wheeled rocker Mars rover.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::1b918023e933ae37c18d95cc5de10236 https://doi.org/10.4028/www.scientific.net/amm.433-435.111 Zobrazit plný text záznamu