Adaptive fuzzy fault-tolerant control for coordinated driving of a six-wheel lunar rover with tracking error reduction.

Duo-Qing Sun, Gong-Li Yang, Shi-Qian He, Yang Chen, Cui-Yi Xiao, Hui-Quan Ma

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Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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5 · Who and what money

Authors and funding

6 authors.

Duo-Qing SunDepartment of General Education, Shandong Xiehe University, Jinan, 250109, China. sun_duoqing@126.com.

Gong-Li YangDepartment of General Education, Shandong Xiehe University, Jinan, 250109, China.

Shi-Qian HeSchool of Mathematics and Information Science and Technology, Hebei Normal University of Science and Technology, Qinhuangdao, 066004, China.

Yang ChenDepartment of General Education, Shandong Xiehe University, Jinan, 250109, China.

Cui-Yi XiaoSchool of Mathematics and Information Science and Technology, Hebei Normal University of Science and Technology, Qinhuangdao, 066004, China.

Hui-Quan MaSchool of Mathematics and Information Science and Technology, Hebei Normal University of Science and Technology, Qinhuangdao, 066004, China.

Funding

State Key Program of National Natural Science of China 61333008

6 · The paper itself

Abstract

This paper addresses the coordinated driving control problem of a six-wheeled lunar rover subject to system uncertainties, external disturbances, and actuator faults. A novel fault-tolerant adaptive control framework is developed using fuzzy logic systems to approximate unknown nonlinear dynamics and fault functions. To mitigate tracking errors, a compensatory control term is integrated into the controller design. A rigorous Lyapunov-based stability analysis demonstrates that the proposed scheme ensures the convergence of tracking errors to a small neighborhood around the origin. Furthermore, the tracking performance can be enhanced by appropriately tuning design parameters. The controller design procedure, including parameter selection guidelines, is explicitly presented through a detailed example. Numerical simulations conducted validate the effectiveness and robustness of the proposed control strategy.

Indexed as

Adaptive fuzzy controlCoordinate drivingFault-tolerant controlLunar roverStability analysis

Identifiers

PMID41345245

DOI10.1038/s41598-025-30666-2

PMCPMC12835082

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LicenceCC BY-NC-ND

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.