Abstract
The paper is dedicated to the rectilinear motion stability of an industrial caterpillar equipped with a follow-up control system (FCS). The FSC task: to ensure a rectilinear motion at the occurrence of barriers such as a hindrance under one of the tracks, heterogeneity of soil and so on. For the successful realization of the task set it is necessary to substantiate a criterion basis of the FCS. The necessity and possibility of control a tractor with a differential rotation gear and a follow-up system on two parameters – on an angular velocity or a relative bearing (depending on technological tasks of a tractor). There is shown a theoretical substantiation of the result obtained in the course of the mathematical experiment – motion control along a path curvature with the correction for the relative bearing, that is, the introduction of an invariant tie based on a standard.
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