Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers
Fault-tolerant control design of wheeled planetary rovers is described. This paper covers all steps of the design process, from modeling/simulation to experimentation. A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data. The nominal mode contro...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/694673 |