中文摘要：

以履带机器车为研究对象，通过对履带机器车轨迹跟踪误差的分析，给出了履带车的内部误差和外部误差的定义采用交叉耦合控制器对履带车辆的内部误差进行补偿，采用专家模糊控制器对履带机器车的外部控制误差进行补偿．从而实现了履带机器车的轨迹跟踪控制一仿真结果验证了该算法的有效性。

英文摘要：

A new tracking controller for tracked robot vehicle is described here,Tracking error of tracked robot vehicle is classified internal error and external error.The internal error is deal with cross-coupling controller,the external en-or is eliminated by a expert-fuzzy controller.Simulation results are provided to verify the proposed scheme.