空间控制技术与应用2025，Vol.51Issue(5)：93-101,9.DOI:10.3969/j.issn.1674-1579.2025.05.009
高速载人月球车主动悬架隔振系统的自适应模糊容错控制方法
Adaptive Fuzzy Fault-Tolerant Control Method for the Active Suspension Vibration Isolation System of a High-Speed Manned Lunar Rover
摘要
Abstract
To enhance the reliability of the active suspension vibration isolation system for a manned lunar rover operating in complex and uncertain environments,an adaptive fuzzy fault-tolerant control scheme is proposed.The controller is designed to handle simultaneous challenges of unknown model parameters,external disturbances,and actuator faults.A fuzzy logic system is employed to approximate the ideal control law,which cannot be calculated directly due to system uncertainties.An adaptive law is constructed to update the fuzzy parameters online.To guarantee the boundedness of all system signals,a supervisory control component is incorporated.The stability of the closed-loop system is rigorously established using Lyapunov theory.To facilitate practical implementation,a detailed procedure for the proposed controller design is provided,including the parameter selection guidelines.Numerical simulation results demonstrate that the proposed control strategy achieves high-precision position and attitude regulation and exhibits strong robustness against actuator failures and environmental disturbances.关键词
载人月球车/隔振系统/容错控制/模糊逻辑系统Key words
manned lunar rover/vibration isolation system/fault-tolerant control/fuzzy logic system分类
航空航天引用本文复制引用
孙多青..高速载人月球车主动悬架隔振系统的自适应模糊容错控制方法[J].空间控制技术与应用,2025,51(5):93-101,9.基金项目
国家自然科学基金资助项目(61333008) State Key Program of National Natural Science of China(61333008) （61333008）
