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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。
Due to the complex lunar terrain environment, lunar rover has a lot of problems to be solved for the adaptive control of complex pavement. In this paper, adaptive control is used to deal with invariant and slow time-varying problems. Extension control is good at dealing with the characteristics of time-varying and mutation problems. By combining adaptive control and extension control, a new intelligent method is constructed - - “Extensible adaptive control ”. Extensible adaptive controller is designed. And conducted a preliminary experiment. Experiments show that the control of the lunar rover by using the extension adaptive control method has a better adaptability to the environment than the traditional adaptive control.