Analyzing and designing of lunar rover motion controller

In this paper, we address the problem of lunar rover motion control. Firstly, we present the motion control strategy of lunar rover, by simplifying the complicated kinematics and classifying the motion control problem of lunar rover into path following and point stabilization. In this paper, the emphasis is put on the control problem of path following. Secondly, a variable structure and time-varying hybrid control law are provided by utilizing Lyapunov techniques and finite time control techniques to solve the path following problem of lunar rover. Finally, several numerical simulations are given to demonstrate the performance of the proposed controller.