履带结构被广泛地应用在移动式机器人的设计当中。为提高其反馈控制模型的精度,该文详细分析了履带式机器人的受力特点,提出了一种适于进行控制器设计的履带机器人模型,并在此基础上,按照反馈线性化的思想,提出了一种履带式机器人稳定路径跟踪控制器的设计方法,同时给出了方法的非奇异条件。该文提出的控制系统模型和路径跟踪方法,为履带式机器人控制系统设计提供了理论依据。 Caterpillar structure is widely used in the design of mobile robots. In order to improve the accuracy of the feedback control model, this paper analyzes the force characteristics of the caterpillar robot in detail and proposes a caterpillar robot model suitable for controller design. On the basis of this, according to the idea of ​​feedback linearization, A design method of tracked robot tracking controller with stability is presented. At the same time, the non-singular condition of the method is given. The proposed control system model and path tracking method provide theoretical basis for the design of the control system of crawler robot.