Work

Adaptive fuzzy fault-tolerant control for coordinated driving of a six-wheel lunar rover with tracking error reduction

Year: 2025

Type: article

Abstract: This paper addresses the coordinated driving control problem of a six-wheeled lunar rover subject to system uncertainties, external disturbances, and actuator faults. A novel fault-tolerant adaptive control framework is developed using fuzzy logic systems to approximate unknown nonlinear dynamics and fault functions. To mitigate tracking errors, a compensatory control term is integrated into the controller design. A rigorous Lyapunov-based stability analysis demonstrates that the proposed scheme ensures the convergence of tracking errors to a small neighborhood around the origin. Furthermore, the tracking performance can be enhanced by appropriately tuning design parameters. The controller design procedure, including parameter selection guidelines, is explicitly presented through a detailed example. Numerical simulations conducted validate the effectiveness and robustness of the proposed control strategy.

Source: Scientific Reports

DOI: 10.1038/s41598-025-30666-2

Authors: Duo-Qing Sun, Gong-Li Yang, Shi-Qian He, Yang Chen, Cui-Yi Xiao, Hui-Quan Ma

Institutions: Shandong Xiehe University, Hebei Normal University of Science and Technology, Hebei University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,690

OpenAlex ID: W4416979547