中文摘要：

针对具有非完整约束特性的多轴驱动车辆，分析多轴驱动形式下的转向几何关系及其运动学约束关系并建立动力学方程，采用基于制导路径跟踪理论的方法评价跟踪误差，推导消除误差所需的姿态角和路径参数更新公式；通过设计李亚普诺夫函数进行稳定性分析，证明了系统的全局一致渐进稳定性；采用非线性状态反馈精确线性化方法导出线性化的车辆动力学模型，在此基础上设计带有干扰观测器的滑模变结构速度跟踪控制器，并采用典型运动路径进行路径跟踪的仿真测试。仿真结果表明，所提出的跟踪控制策略能够满意地实现多轴驱动车辆对给定目标路径的跟踪。

英文摘要：

Path-following control is an important issue of multi-axle drive vehicle. Addressing the multi-axle drive vehicle with nonholonomic constraint characters, the steering and kinematical constraint relationship of the vehicle are analyzed, and the kinematical and kinetic equations are established. The method based on the guidance-based principle is used to the path following and evaluate the along and cross track errors. Attitude angle formula about decreasing errors and updating law formula of path parameter are established. By designing Lyapunov function and analyzing the stability, the global uniform asymptotic stability of the vehicle system is certificated. The linearized vehicle dynamic model is deduced by nonlinear state feedback precise linearization. A sliding mode controller with disturbance observer is proposed to realize the speed tracking of vehicle. Then the simulation test of path following with a typical motion path is completed. The simulation results show that the proposed tracking control strategy can satisfactorily realize the tracking for the given target path of multi-axle drive vehicle.