Novel Robust Control Method for Leg-Soil System of Lunar-Based Equipment.

Lunar-based equipment undertakes the task of movement and transportation in the construction of unmanned lunar base. In the process of moving, the mechanical legs of the equipment are influenced by the lunar soil with special mechanical properties. In order to avoid these uncertainties caused by the lunar soil and other lunar environmental conditions affecting the safety during the mission, a new robust control method with the form of sectionalized expression is proposed based on the dynamic model of the leg-soil system. Lyapunov second method is introduced to demonstrate that the proposed control method can maintain the stability of the leg-soil system successfully. In order to clarify the contact force in the dynamics model, CAS-1 lunar soil simulant that can accurately simulate real lunar soil is used in the calibration test to obtain the precise mechanical parameters. Simulation and experiment are also carried out to verify the proposed control method and the traditional control methods are introduced to make a comparison. Both the simulation and experiment results show that the proposed control method has a better control effect than traditional methods. The proposed method improves the accuracy by an average of 75.7% and 55.9% compared to the traditional methods and the error is limited to 0.2%. By maintaining the stability and accuracy of the leg-soil system, the stability of the lunar-based equipment is improved when performing construction tasks. This study lays the foundation for the construction of unmanned lunar base in advance. [ABSTRACT FROM AUTHOR]