Rover Inverse Simulation Using a Segmented Model Approach

Abstract

Using mathematical models to simulate system responses to inputs has been shown to be an effective tool for system design and optimisation. As well as forward simulations, inverting the simulation process allows an even deeper understanding of the system and the design requirements. Presented in this paper is a method of simulation inversion known as GENISA, applied to the case of an electromechanical wheeled rover. The effect of segmenting the mathematical model used in the inverted simulation is investigated and is shown to be more efficient in terms of computational expense. This, however, comes at the cost of an increased susceptibility to chattering (i.e. sustained oscillations).