English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Mobility control is one of the most essential parts of planetary rovers’ research and development. The goal of this research is to let the planetary rovers be able to achieve demand of motion from upper level with satisfied control performance under the rough and deformable planetary terrain that often lead to longitudinal slip. The longitudinal slip influences the mobility efficiency obviously, especially on the major deformable slopes. Compared with the past works on normal stiff terrains, properties of soil and interaction between wheels and soil should be considered additionally. Therefore, to achieve the final goal, in this paper, wheel-soil dynamic model for six-wheel planetary rovers while climbing up deformable slopes with longitudinal slip is first built and control based in order to account for slip phenomena. These latter effects are then taken into account within terramechanics theory, relying upon nonlinear control techniques; finally, a robust adaptive fuzzy control strategy with longitudinal slip compensation is developed to reduce the effects induced by slip phenomena and modeling error. Capabilities of this control scheme are demonstrated via full scale simulations carried out with a six-wheel robot moving on sloped deformable terrain, whose real time was computed relying uniquely upon RoSTDyn, a dynamic software

Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip