부산대학교 도서관

The kinematics model and trajectory tracking dynamic error model of crawler rescue robot were established, and the double sliding mode control law for tracking position and attitude of crawler rescue robot was designed based on sliding mode variable structure control technology and global asymptotic stability theory, also the problem of buffeting reduction is considered. In addition, the stability of the whole trajectory tracking control system was analysed, and the validity of the double sliding mode control law for trajectory tracking was verified by simulation. The outdoor experiment results further show that the trajectory tracking control method for the crawler rescue robot proposed in this paper is effective and can meet the requirements of the actual operation of the rescue robot.