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

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.