Abstract: Based on the regulation law of immunity feedback response in biology，a compound path tracking control method is proposed for the problem existing in the non-time based approach of mobile robots.It keeps the merit of non-time based approach.It is featured by fully considered mechanism of the robot and the request of motor torque，limits the peak-to-peak value when the error is bigger.Through selecting appropriate parameters，it can also reduce the system overshoot，further improve the performance of the entire control system，enhance tracking capabilities and self-adaptability in the uncertain environment.Simulation and experiment results demonstrate that the proposed method is effective and practical.

Key words: mobile robot, non-time based, path tracking, immune feedback controller

摘要： 针对移动机器人非时间参考控制方法的不足之处，借鉴生物免疫反馈响应过程的调节规律，提出了移动机器人的免疫非时间参考路径跟踪控制方法。该方法既有不依时间规划调节输出控制的特性，而且充分考虑到机器人机械结构与电机力矩特性的要求，实现了在误差较大时对控制量的限幅;通过选取合适参数，还能减小系统的超调量，进一步改善整个控制系统的性能。对于动态事件，采用插入算法，提高机器人对动态环境适应能力，使控制方法更适宜实际应用。仿真与实物实验，验证了该方法的有效性。

关键词: 移动机器人, 非时间参考, 路径跟踪, 免疫反馈控制