中文摘要：

针对轮式移动机器人的轨迹跟踪控制问题，在分析了机器人运动学模型的基础上，构建多机器人的领航一追随模型；采用跟踪微分器在输入输出两端安排过渡过程，设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器；搭建以Arduino Mega1280控制板为核心的移动机器人实验平台，采用速度PID控制器以满足机器人驱动电机的实时调速要求，基于ROS提出一种结构化和模块化的多机器人控制系统；在此基础上进行实验，并将实验结果与传统P1D方法控制的实验结果进行对比；实验结果验证了文章所提算法的有效性，控制器易于实现且具有一定的鲁棒性。

英文摘要：

This paper deals with the problem of trajectory tracking control of wheeled mobile robots. The leader-follower model of the robots is established, then a nonlinear PID trajectory tracking controller with multivariable decoupling strategy is proposed, including two tracking differentiators （TD） at the input and output ports. To implement this algorithm, a wheeled mobile robots platform is constructed u sing Arduino Mega 1280 controller as the core, then the PID controller is proposed for the speed control of DC motor, and the software sys tern is developed under the environment of robot operating system （ROS）. Finally, experiments on the robot are developed to show the performance of the proposed algorithm, including the comparison with PID controller. The experimental results demonstrate the effectiveness and robustness of the algorithm.