Abstract: Because of the complexity of the lunar environment, the lunar rover, as a complex multi-body system, has many characteristics in its dynamics behavior and its control. The analysis is more difficult than that of simple system. The mathematical models of lunar rover control, such as dynamics, motion constraints and kinematics, are presented in this paper. The harmonious control is explained by the sample of running across a ravine. For imitation of the lunar gravitational circumstances, a single wheel test device based on gas lubrication was designed. The range of the kinematic and dynamic parameters of each wheel can be determined by that device.