分箱式月球车的预测控制

设计了适应月球探测的分箱体可折叠的月球车移动机构.具有很大的柔性和很强的环境适应能力.为解决该移动系统的控制复杂性.基于一定的规则对复杂的月球车非线性模型进行建模,采用有控制约束的准Min-Max模型预测控制,实现从一个位置到另一个位置的运动.通过求解线性矩阵不等式(LMI)的凸优化获得状态反馈控制律,而LMI的可行性保证了闭环系统的稳定性.仿真表明在满足控制约束的条件下,采用预测控制实现对月球车移动系统目标探测是可行的.

Predictive control of a two-component lunar rover

A lunar rover has been developed,which is made up of two components and can be folded.This lunar rover has good flexibility and strong capability to adapt to extreme environment on the moon.In order to reduce the complexity of the control system,a nonlinear model of the lunar rover was established based on certain rules;constrained quasi-Min-Max rules was applied to realize the motion from one place to another.The state feedback control law was obtained by convex optimization to a linear matrix inequalities,in which the feasibility of LMI guarantees the stability of closed-loop system.Simulation shows that the closed-loop system with constrained conditions is stable and practical for target exploration of a lunar rover.