Synchronization Control With Adaptive Friction Compensation of Treadmill-Based Testing Apparatus for Wheeled Planetary Rover

This article studies synchronization control of a novel devised treadmill-based testing apparatus for wheeled planetary rover roaming at low speed. To offer satisfactory tracking performance and to ameliorate internal conflicts amongst individual treadmills during rover-treadmill interaction, a dece...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2022-01, Vol.69 (1), p.592-603
Hauptverfasser:	Yu, Haitao, Gao, Haibo, Deng, Huichao, Yuan, Shuai, Zhang, Lixian
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive control Adaptive friction compensation Coders Compensation Control stability Controllers Feedback control Friction Low speed LuGre model mobile robot Parameter identification Robot kinematics Robots Synchronism Synchronization synchronization control Test equipment Testing Tracking errors Treadmills Uncertainty wheeled planetary rover (WPR) Wheels
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