Abstract: A path tracking controller of tracked robot is designed based on the kinematic relationship between tracked micro-robot and wheeled robot.The controller’s global stability is verified with Lyapunov theory.Parameters is introduced to describe the track-soil interactions.Limitations of speed and speed acceleration is adopted to make the track smooth.Simulations and actual experiment reveals the controller is precise，global stable and easy to be implemented.

摘要： 根据履带式机器人运动学特性与轮式机器人的关系，给出了履带式微小型机器人的路径跟踪控制器，利用Lyapunov稳定判据证明其全局稳定性。在控制器的设计中考虑了履带-地面作用，引入参数对其描述。考虑了左右履带的速度以及加速度限制，以保证跟踪轨迹的平滑。仿真实验与实际实验验证了该方法具有控制精确，全局稳定收敛与简单实用的优点。