Slip Estimation for Lunar Rover

摘要：

This paper investigates the slip estimation based on the slip ratio control. Tire-soil traction mechanics are engaged and the dynamics modeling of the eight-wheel rocker-bogie lunar rover is deduced. After simplification, control model with slip ratio as state variable is developed. Variable structure control is applied and simulation is carried out. Finally, the method of slip estimation is proposed, which will be a great help to trajectory planning and autonomous motion.

作者: Ma Jie Gao Haibo Chen Lei Denggao Ji

作者单位: Harbin Institute of Technology 150001,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 478-481

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）