Modelling and control for lunar rocker-bogied rover with slip

The modeling and control of rocker-bogied and six-wheeled lunar rover with slip is presented. The dynamic equations of rocker-bogied rover are deduced, which can be described qualitatively as a group of affine differential equations with translation velocity and steering velocity as outputs, with motor control currents or voltages as inputs and with wheel normal contact forces, their contact places and contact force coefficients as parameters on condition that sliding ratio and mismatch angles are small. Thus, the lunar rover can be servo-controlled using fuzzy sliding mode control according to sensed normal contract forces.