轨迹跟踪是移动机器人导航中的核心问题之一。针对非完整运动约束车辆，利用反馈线性化方法设计了轨迹跟踪器，仿真研究了跟踪算法的鲁棒性。最后，介绍了工程实现中参数观测器设计等相关问题。

Trajectory tracking is one of the core problem in navigation with mobile robots.  In this article,  feedback linearization method is used in the design of trajectory tracking controller for nonholonomic vehicle.  Robustness of the tracking algorithm is studied via simulation.  Engineering problems,  such as design of parameter observer,  are introduced at last.

陈杨（1978－），男，湖北襄樊市人，国防科技大学博士研究生