Nonlinear Robust Control for the Mechanical Leg of Lunar-Based

The 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 nonlinear 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 controller is designed based on the nonlinear dynamic model of the mechanical leg and the controller is proved theoretically based on Lyapunov stability theory. The numerical simulation and the real-time experiment are 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.