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- W2373453676 abstract "To enhance the reliability of the driving control system of a six-wheeled rocker-arm lunar rover in complicated and unknown surroundings and prevent the control invalidation caused by actuator failures,a method for designing adaptive fuzzy fault-tolerant coordinated driving controllers based on slip ratio is proposed in this paper.In this method,fuzzy logic systems are used to approximate the unknown nonlinear dynamics of the system and the unknown fault functions,and an error compensator is designed to reduce the influence of approximation errors on tracking accuracy.Based on Lyapunov theory,it is proven that the designed fault-tolerant scheme can not only make the tracking errors converge to the small neighborhood of the origin,but also reduce the tracking errors by increasing part of parameter values in the designed controller.In addition,the followed every step and the method for choosing parameters in the fault-tolerant controller design are provided by using an example.Simulation results demonstrate that the proposed control law has higher accuracy and robustness." @default.
- W2373453676 created "2016-06-24" @default.
- W2373453676 creator A5040169845 @default.
- W2373453676 date "2012-01-01" @default.
- W2373453676 modified "2023-09-25" @default.
- W2373453676 title "Adaptive Fuzzy Fault-Tolerant Coordinated Driving Control for a Six-Wheeled Rocker-Arm Lunar Rover" @default.
- W2373453676 hasPublicationYear "2012" @default.
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