This invention discloses a method and
system for tracking and controlling the trajectory of an unmanned tracked vehicle on a slope based on
virtual control points, belonging to the field of tracked vehicle trajectory tracking and control. First, the gravitational
yaw moment caused by the vehicle's center of gravity offset is calculated, and a discrete prediction model of slope dynamics is constructed. Second,
virtual control points are generated, and the influence of lateral slippage is corrected through an anti-slip compensation term. Finally, the tracked vehicle's attitude information is acquired in real time, and based on the discrete prediction model of slope dynamics, the predicted value of the
state vector is obtained. The predicted coordinates of the
virtual control points are calculated, and the
optimal control quantity is solved. This invention innovatively proposes a dynamic migration method for "virtual control points" based on center of gravity offset and slope parameters. This method migrates the control reference point from the geometric center to a
virtual position that can balance the gravitational moment, effectively solving the influence of
yaw moment on the tracked vehicle's control attitude, suppressing the slippage influence caused by the lateral component of gravity, and effectively solving the
instability of tracked vehicles in slope
motion control.