SIA OpenIR  > 智能产线与系统研究室
Dynamic modeling and sliding mode driving control for lunar rover slip
Gu KF(谷侃锋); Wei YZ(魏英姿); Wang HG(王洪光); Zhao MY(赵明扬)
Department现代装备研究室
Conference NameIEEE International Conference on Integration Technology
Conference DateMarch 20-24, 2007
Conference PlaceShenzhen, China
Author of SourceIEEE Robot & Automat Soc, Chinese Univ Hong Kong, Shenzhen Bur Sci, Technol & Informat, CAS Shenzhen Inst Adv Technol, CAS, CUHK Shenzhen Inst Adv Integrat Technol, Assoc Sci & Technol Nanshan Dist, Drawing Informat Ind, Beijing, Co Ltd
Source Publication2007 IEEE International Conference on Integration Technology, Proceedings
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages36-41
Indexed ByEI ; CPCI(ISTP)
EI Accession number20082811367627
WOS IDWOS:000250362300007
Contribution Rank1
ISBN978-1-4244-1091-0
KeywordLunar Rover Mobile Robot Muti-pass Sliding Erode Control Slip Ratio Soft Road Condition
AbstractSlip ratio is the crucial variable of the interaction between wheels and soft road. Based on the definition of the slip ratio of wheels, dynamical model of the lunar rover is established in this paper, which incorporated the terramechanics theory. We calibrated some parameters of soil according to the theory of muti-pass performance of rigid driving wheels. Considering uncertainties of the non-linear model, the sliding mode controller is designed. Simulation results shows that the controller effectively keeps the slip rate of the wheel tracking the desired value and avoids the excessive spin and sink of the driving wheel.
Language英语
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7877
Collection智能产线与系统研究室
Corresponding AuthorGu KF(谷侃锋)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.Graduate School, Chinese Academy of Sciences, Beijing, 100039, China
3.Shenyang Ligong University, Shenyang 110168, China
Recommended Citation
GB/T 7714
Gu KF,Wei YZ,Wang HG,et al. Dynamic modeling and sliding mode driving control for lunar rover slip[C]//IEEE Robot & Automat Soc, Chinese Univ Hong Kong, Shenzhen Bur Sci, Technol & Informat, CAS Shenzhen Inst Adv Technol, CAS, CUHK Shenzhen Inst Adv Integrat Technol, Assoc Sci & Technol Nanshan Dist, Drawing Informat Ind, Beijing, Co Ltd. NEW YORK:IEEE,2007:36-41.
Files in This Item: Download All
File Name/Size DocType Version Access License
HYQW000524.pdf(359KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gu KF(谷侃锋)]'s Articles
[Wei YZ(魏英姿)]'s Articles
[Wang HG(王洪光)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gu KF(谷侃锋)]'s Articles
[Wei YZ(魏英姿)]'s Articles
[Wang HG(王洪光)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gu KF(谷侃锋)]'s Articles
[Wei YZ(魏英姿)]'s Articles
[Wang HG(王洪光)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW000524.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.