Coordinated control for velocity tracking of lunar rover on loose soil

On lunar surface, terrain is mostly composed of fine grained soil in which a rover may be easily digging or stuck. So wheel-terrain interaction plays a key role in loose terrain mobility. Based on the characteristics of wheel-soil mechanics, in this paper a dynamic simulation model is developed with the equivalent conversion method in Adams. In order to achieve the velocity-tracking goal, a coordinated controller for velocity tracking based on slip ratio compensation is designed. The simulation is carried out by the approach of integrated simulation combining Adams with Matlab/simulink. The results indicate that the control method can reach the desired velocity quickly within the limited slip ratio.