考虑预瞄补偿的无人履带车辆轨迹跟踪鲁棒控制策略

刘瑞; 刘辉; 聂士达; 韩立金; 万航; 简洪超

doi:10.12382/bgxb.2025.0671

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考虑预瞄补偿的无人履带车辆轨迹跟踪鲁棒控制策略

更新时间：2026-04-24

- 考虑预瞄补偿的无人履带车辆轨迹跟踪鲁棒控制策略
- Robust Trajectory Tracking Control of Unmanned Tracked Vehicles Considering Preview Compensation
- 兵工学报 2026年47卷第1期页码：250671
- 作者机构：
  
  北京理工大学机械与车辆学院，北京 100081
  北京理工合肥无人智能装备研究院，安徽合肥 230041
  中国北方车辆研究所，北京 100072
- 作者简介：
  
  *通信作者邮箱：lh@bit.edu.cn
- 基金信息：
- DOI：10.12382/bgxb.2025.0671
  中图分类号： TJ811+.1
- 收稿：2025-07-18，
  
  网络首发：2026-02-11，
  
  纸质出版：2026-01-31
- 稿件说明：
移动端阅览
刘瑞, 刘辉, 聂士达, 等. 考虑预瞄补偿的无人履带车辆轨迹跟踪鲁棒控制策略[J]. 兵工学报, 2026,47(1):250671.

LIU Rui, LIU Hui, NIE Shida, et al. Robust Trajectory Tracking Control of Unmanned Tracked Vehicles Considering Preview Compensation[J]. Acta Armamentarii, 2026, 47(1): 250671.
刘瑞, 刘辉, 聂士达, 等. 考虑预瞄补偿的无人履带车辆轨迹跟踪鲁棒控制策略[J]. 兵工学报, 2026,47(1):250671. DOI： 10.12382/bgxb.2025.0671.

LIU Rui, LIU Hui, NIE Shida, et al. Robust Trajectory Tracking Control of Unmanned Tracked Vehicles Considering Preview Compensation[J]. Acta Armamentarii, 2026, 47(1): 250671. DOI： 10.12382/bgxb.2025.0671.

摘要

在无人履带车辆轨迹跟踪过程中，系统参数摄动及外界干扰等不确定因素会降低轨迹跟踪精度，显著增加控制器设计的难度。为应对这一挑战，提出一种结合鲁棒控制与预瞄补偿的无人履带车辆轨迹跟踪策略。通过线性分式变换建立含不确定性的轨迹跟踪误差模型，考虑参数摄动和外界干扰的影响，构建

综合控制器，实时调整两侧履带卷绕速度以最小化轨迹跟踪误差。集成预瞄补偿器，利用预瞄机制修正参考航向角，从而显著提升跟踪精度。通过仿真软件进行仿真，验证了新提出的鲁棒控制策略在不同工况下均能实现良好的轨迹跟踪精度。

Abstract

The uncertain factors such as parameter perturbation and external disturbance will reduce the trajectory tracking accuracy during the tracking process of unmanned tracked vehicles

significantly increasing the difficulty of controller design. To solve this problem

a robust trajectory tracking control strategy considering preview compensation is proposed for unmanned tracked vehicles. A trajectory tracking error model with uncertainty is established using linear fractional transformation. Considering the parameter perturbation and the external disturbance

-synthesis controller is designed to make the vehicle follow the expected trajectory through adjusting the track rolling speed

and a preview compensator is designed to correct the reference heading angle. The vehicle can detect the reference path in advance through a preview point due to the adoption of preview compensator

which is helpful to improve the trajectory tracking accuracy. The proposed robust control strategy is verified through simulation software. It is found that the proposed robust control strategy can achieve good control effects under different working conditions.

关键词

Keywords

references

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