Novel Robust Control Strategy for the Mechanical Legs of Lunar-Based Equipment

Research on the movement of lunar-based equipment is an essential subject in lunar exploration. The uncertainties of the complex lunar surface environment affect the steady movement of lunar-based equipment. In this paper, a novel robust control strategy, namely model-based p-sectionalized control strategy (MPS control), is proposed for the mechanical legs of lunar-based equipment to maintain stability. The novel robust controller is designed based on the dynamic model of the mechanical leg and the controller is proven theoretically based on Lyapunov stability theory. A numerical simulation and the real-time experiment were carried out, and traditional controllers are introduced in the comparison. The results of both the simulation and the experiment verify the effectiveness of the proposed controller.