中文摘要：

在分析车辆传动系统结构特点的基础上,基于差动转向原理,将无人车的运动跟踪控制分为：基于左右轮平均轮速的直线行驶控制和基于左右轮轮速差的行车转向控制。同时,基于抗积分饱和的比例积分控制法,提出了直线行驶下的车速跟踪控制算法;基于状态反馈法,提出了行车转向下的横摆角速度跟踪控制算法。最后,通过实车试验对提出的运动跟踪控制算法进行验证,实现了目标车的遥控行驶。

英文摘要：

With an analysis on the structural features of vehicle transmission system,and based on the principle of skid-steering,the motion tracking control for unmanned ground vehicle is divided into straight-line driving control based on the average rotation speed of left and right wheels and cornering control based on the rotation-speed difference of left and right wheels.Meanwhile,a vehicle speed tracking algorithm is proposed for straight-line driving based on PI control with integral anti-windup,and a yaw rate tracking algorithm is proposed for cornering based on state variable feedback.Finally,the motion tracking algorithms proposed are verified by real vehicle tests,realizing the remote control driving of target vehicle.