基于再生核理论的月球车轨迹跟踪控制*

针对平整坡面上行驶的月球车,研究了基于再生核理论的月球车轨迹跟踪控制新方法.它是基于描述月球车运动的动力学模型方程,对有限时间内的期望轨迹进行采样;利用再生核方法,数值求解控制参数,从而实现月球车期望轨迹的跟踪控制.该方法计算量小、方法简单、精度高,且可实现任意的非线性曲线的期望轨迹追踪.数值实验验证了该方法的正确性和有效性.

Trajectory Tracking Control for Lunar Rover Based on Reproducing Kernel Theory

For lunar rover running on the planar slope,a new method for trajectory tracking of lunar rover was developed based on the theory of reproducing kernel. This method sampled on the desired trajectory within finite time, and used the numerical method for solution of the control parameters by the theory of reproducing kernel based on the dynamic equations describing motion of the lunar rover, so as to control the lunar rover to track the desired trajectory. The proposed method had many advantages such as less work, less computation demand, higher precision, as well as the desired trajectory being any more complex nonlinear curve. Numerical experiment results show the correctness and effectiveness of the proposed method.