The Implementation of Lunar Rover’s Trajectory Tracking Control of Based on Trigonometric Spline Wavelet
This article gives the trajectory tracking control methods of lunar rover vehicle on the flat slope based on a triangular spline wavelet structured. It is based on the dynamic model equations to describe the movement of lunar rover, sample the desired trajectory within a finite time; use triangular spline wavelet method, numerical solution of control parameters to achieve the desired trajectory tracking lunar rover control. This method is small, simple, high precision, and can achieve any desired trajectory tracking of non-linear curve. Numerical experiments verify the correctness and effectiveness of the method.
Helen Zhang, Gang Shen and David Jin
L. Wei and Q. Guo, "The Implementation of Lunar Rover’s Trajectory Tracking Control of Based on Trigonometric Spline Wavelet", Advanced Materials Research, Vols. 219-220, pp. 179-182, 2011