Design of Sliding Cloud-Model Cross Coupling Controller for Tracked Mobile Robot

In the tracked mobile robot driven by two DC motors, factors such as load disturbance and difference in mechanical structure between the left track and the right track would cause trajectory tracking error and affect tracking precision. Aiming at the problems above, a sliding cloud-model cross coupling controller is designed. Among them, the sliding mode controller for speed loop is designed to reject the random interference and reduce the speed tracking error of single motor, and cloud-model cross coupling controller is designed to reduce the speed tracking error of motors on both sides. In the end, the performance of the compound controller is verified by simulation. It turns out that the sliding cloud-model cross coupling controller has high tracking accuracy and strong robustness.