Abstract
In lunar exploration, lunar-based equipment assumes the responsibility of mobility and transportation during the construction of unmanned lunar base. Legged robots are an important form of the lunar-based equipment due to their mobility and terrain adaptability. However, the influence of lunar terrain and lunar soil cannot be ignored when it comes to studying the mobile stability of lunar-based equipment. Utilizing the dynamic model of the robotic leg, this study proposes a new robust control algorithm, MBC (Model-Based with Continuous expression) algorithm, for lunar-based equipment’s robotic leg, and its effectiveness is established through experimentation and theoretical validation with the Lyapunov second method. In the design and verification, the contact force of lunar soil and the lunar environment with low gravity are considered, indicating the applicability of the proposed MBC method in special lunar scenarios. Compared to the conventional PD (Proportional-Differential) and MPD (Model-Based Proportional-Differential) techniques, MBC robust algorithm ultimately demonstrates superior stability and rapidity with a smaller steady state error.
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