模拟月球车复杂路面的可拓自适应控制方法

由于月球复杂的地形环境,月球车对于复杂路面自适应控制有很多问题有待解决。文中利用自适应控制善于处理不变和慢时变问题,可拓控制善于处理时变和突变问题的特点,将自适应控制与可拓控制二者结合起来,构建了一种新的智能方法——"可拓自适应控制"。设计了可拓自适应控制器。并对其进行了初步实验。实验表明,采用可拓自适应控制方法对模拟月球车驱动进行控制,较传统的自适应控制具有更好的环境适应性。

Research on An Extendable Self-adaptive Control Used to Simulating Lunar Rover Driven on the Complex Road

There are a lot of issues to be resolved for a Lunar Rover to fit in with moonscape owing to the complex topography.Self-adaptive control theory is good to handla the unchanged and slow time-dependent problems.Extendable control theory is good to deal with time-varying and mutant problems.Through a combination of both,a new intelligent method-Extendable and Self-adaptive Control is built and described in the paper.Meanwhile,an Extendable and Self-adaptive Controller is made up and the experiment is also don...