Slip Ratio Based Traction Coordinating Control of Wheeled Lunar Rover with Rocker Bogie

Abstract

This paper investigates the traction coordinating control issue of the wheeled lunar rover with Rocker Bogie in rough terrain. Based on the improved exponential approach law, the algorithm of coordinating control is designed to optimize the traction force and minimize the slip ratio, including the velocity and normal force control and sliding mode control. Then the co-simulations between ADAMS and MATLAB/Simulink are carried out in order to validate the proposed algorithm. Simulation results for a wheeled rover traversing moon-like terrain slopes and ditches demonstrate the effectiveness of the proposed control algorithm and the mobility improvement.