Robust Trajectory Tracking Control of Unmanned Tracked Vehicles Considering Preview Compensation

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, a μ-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.