Robust High-Order Sliding Mode Control for Collecting Objects by a Wheeled Space Rover With a Multi-Articulated Arm

Abstract

This study focuses on implementing a super-twisting controller (STC) to manage autonomous rover navigation. STCs have effectively dealt with inherent uncertainties in real-world applications, making them particularly suitable for tasks such as rover navigation. The study addresses designing and implementing an STC-based controlled system tailored to rover navigation scenarios' dynamic and unpredictable nature. STC uses equivalent control schemes to model complex relationships among input variables, minimizing errors in wheel speed, steer mechanism, and 6-DOF robot arm trajectories. The implementation is validated through simulation studies, using representative scenarios to evaluate the controller's performance in demanding environments. Evaluation metrics include trajectory accuracy, obstacle avoidance, and overall system robustness. In addition, the same control action was tested on a rover that was developed by the authors, whose motion corresponds to that considered in the numerical evaluations. The results of this study are intended to provide valuable information on the application of STC for autonomous rover navigation, with implications for improving the reliability and adaptability of robotic exploration missions.