To enhance the reliability of the driving control system of a six-wheeled rocker-arm lunar rover in complicated and unknown surroundings and prevent the control invalidation caused by actuator failures, a method for designing adaptive fuzzy fault-tolerant coordinated driving controllers based on slip ratio is proposed in this paper. In this method, fuzzy logic systems are used to approximate the unknown nonlinear dynamics of the system and the unknown fault functions, and an error compensator is designed to reduce the influence of approximation errors on tracking accuracy. Based on Lyapunov theory, it is proven that the designed fault-tolerant scheme can not only make the tracking errors converge to the small neighborhood of the origin, but also reduce the tracking errors by increasing part of parameter values in the designed controller. In addition, the followed every step and the method for choosing parameters in the fault-tolerant controller design are provided by using an example. Simulation results demonstrate that the proposed control law has higher accuracy and robustness.%为提高复杂和未知环境中六轮摇臂式月球探测车的驱动控制系统的可靠性,防止因执行器故障引起的月球车失控,提出一种基于滑转率的协调驱动自适应模糊容错控制方法.该方法用模糊逻辑系统逼近系统的未知动态和未知的故障函数,并通过所设计的误差补偿器来减少逼近误差对跟踪精度的影响.基于Lyapunov理论,证明了所设计的容错控制方案不但能使跟踪误差收敛到原点的小邻域内,而且通过适当增大设计参数的值,可使跟踪误差减小.此外,为便于应用给出了详细的容错控制器设计步骤,并对控制器中参数的选取给出了示例.仿真结果表明该控制律具有较高的控制精度,并且对外部干扰有很强的鲁棒性.
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