Tracked unmanned vehicle trace tracking controller design method based on kinematic model
A kinematic model and trajectory tracking technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of lack of consideration of vehicle driving stability and tracking speed, no consideration of slipping effects, accuracy to be further verified, etc.
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[0071] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0072] as attached figure 1 As shown, the present invention provides a method for designing a trajectory tracking controller for a tracked unmanned vehicle based on a kinematic model, and the implementation steps of the method are as follows:
[0073]The first step: establish the state space equation according to the kinematics model of the tracked vehicle considering slip;
[0074] The kinematics model of tracked vehicle considering slip is shown in formula (1.1).
[0075]
[0076] in,
[0077]
[0078] Express it as a nonlinear model as follows:
[0079]
[0080] in,
[0081] Put equation (1.3) at the working point (ξ r ,μ r ) for a first-order approximate Taylor expansion linear system, we get
[0082]
[0083] The working point (ξ r ,μ r ) into the model (1.3), the equation (1.4) subtracts the equation (1.3), and the linearizatio...
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