Trajectory Tracking Control for Lunar Rover Based on Reproducing Kernel Theory
基于再生核理论的月球车轨迹跟踪控制

For lunar rover running on the planar slope,a new method for trajectory tracking of lunar rover was developed based on the theory of reproducing kernel. This method sampled on the desired trajectory within finite time, and used the numerical method for solution of the control parameters by the theory of reproducing kernel based on the dynamic equations describing motion of the lunar rover, so as to control the lunar rover to track the desired trajectory. The proposed method had many advantages such as less work, less computation demand, higher precision, as well as the desired trajectory being any more complex nonlinear curve. Numerical experiment results show the correctness and effectiveness of the proposed method.