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

Yan Wen Huang; Qi Xin Cao; Chun Tao Leng

doi:10.4028/www.scientific.net/AMM.433-435.111

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 433-435One Improved Generalized Predictive Motion...

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

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 433-435)

Pages:

111-116

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.433-435.111

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Online since:

October 2013

Authors:

Yan Wen Huang, Qi Xin Cao, Chun Tao Leng

Keywords:

Generalized Predictive Controller, Kinematic Model, Mars Rover, Motion Control, Slipping Constrains

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