Takatsugu Oda
Mechanical systems engineering, Tokyo city university, Japan
Hiroki Yoshikawa
Mechanical systems engineering, Tokyo city university, Japan
Naoki Shibata
Mechanical systems engineering, Tokyo city university, Japan
Kenichiro Nonaka
Mechanical systems engineering, Tokyo city university, Japan
Kazuma Sekiguchi
Mechanical systems engineering, Tokyo city university, Japan
Ladda ner artikel
http://dx.doi.org/10.3384/ecp18148240Ingår i: Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018
Linköping Electronic Conference Proceedings 148:33, s. 240-244
Publicerad: 2019-02-21
ISBN: 978-91-7685-266-8
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
For the planetary exploration rover, to cope with the layer of heterogeneous superficial deposits called regolith is important so as to achieve designed traction. In order to consider effects of wheel motion, model predictive allocation control is proposed. To cope with complex terramechanics in MPC (model predictive control), the identification technique is introduced; the proposed MPC is formed as a linear optimization problem. The rover model and terramechanics are described using model-ica and simulate to evaluate the performance of the proposed method. The suppressed of superfluous slip and enhancement of traction performance is numerically
shown.
Terramechanics, Allocation control, Model predictive control, Model identification.
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