High-gain polynomial squares and controls for operating lunar rovers

In view of the needs of multi-functional lunar robots such as patrol survey and resource utilization of unmanned lunar exploration and manned lunar exploration in China, as well as the nonlinear characteristics of the robot mobile manipulator system, sum of squares method is used to study the control problem of the mobile manipulator system, and how to apply sum of squares method to the control of the mobile manipulator. The design and simulation of high-gain observer and sliding mode observer are compared with the Lagrange dynamic model of the lowered mobile manipulator. Aiming at the problems of slow solution speed and only guaranteed local optimal solution of traditional polynomial nonlinear system control methods of mobile manipulators. The progressive tracking controller and search Lyapunov function are designed by the sum of squares method, and the controller is designed by Rantzar’s criterion to make the system globally progressive and stable. Using the polynomial system form of the observer system, the speed value of the tracking controller is converted into the observation value, and the output feedback controller is obtained. The simulation results show the effectiveness of the controller.