在农田软质地面运行的履带机器人，存在着附着极限态机器人子系统之间、履带-地面间相互作用和运动关系耦合机理与非附着极限态的存在较大差异，易出现失稳失控现象，拟建立侧向非平稳约束动力学系统，进行附着极限态稳定性控制方法研究，包括：①分别建立独立履带机器人和侧向非平稳约束履带机器人动力学模型；②对履带机器人运动状态和附着状态进行实时估计，研究机器人稳定性和安全性区域边界，综合决策层决策的稳定性目标和路面附着力决定的安全性目标，动态确定最优控制目标；③采用集成控制方法，利用履带-地面附着条件，建立机器人附着极限态稳定性控制系统模型，控制各驱动轮作用力，实现控制目标；④研究侧向非平稳约束履带机器人系统到独立履带机器人系统输出状态空间映射算法，建立基于侧向非平稳约束动力学系统的履带机器人稳定控制系统；⑤采用理论分析、系统建模、仿真计算和实际试验相结合的研究方法，提高履带机器人附着极限态稳定控制性能。

To aim at the actual application of agricultural tracked mobile robot running on soft and rough farmland, methods for accurate estimation tracked mobile robot running state and ground slide parameters are proposed, a coordinated control based on precision in a robot-ground closed loop system is established, which is by Information Fusion Theory based on Multi-Sensor of the subsystems. The main contents include：(1) The establishment of kinematic and dynamic models of agricultural tracked mobile robot and the movement coupling characteristics analysis of track forced; (2) The improvement slide parameters which are closely related to control precision by Information Fusion Theory based on Multi-Sensor, namely observation tracked mobile robot lateral-slip angle by high-order sliding mode observer and online identification of slide coefficient based on recurrent minimum variance；(3) The optimization of the controller performance by genetic algorithm, construction method for precision control method of agricultural tracked mobile robot; (4) Meeting real time requirement for agricultural tracked mobile robot complicated control system in application by FPGA.(5)Verifing on efficiency of coordination controller by experiment of a large closed-loop hybrid simulation and tracked mobile robot prototype running, providing a powerful novel methodologies and technologies support for control of tracked mobile robot in application of special farmland environment.