抄録
This paper proposes the synthesis procedure for the motion control system to simultaneously reduce slippage and vibration in a planetary rover. It is confirmed that the slippage generating in early phase of the rover motion is involved with acceleration and deceleration of the driving mechanism. The vibration due to flexibility of the rover is also induced by self-motion, that is acceleration and deceleration. Therefore, in this paper, we focus on the design of the acceleration target for the control system. The acceleration profile is then derived only by solving a regulator problem with an initial velocity and taking account of the maximum value in acceleration.
