近年來輪型機器人的發展研究受到高度重視，單輪車機器人因僅有一個驅動輪與地面接觸，因此為極不穩定系統，故常被用來驗證各式非線性控制理論的效能。本論文旨在設計一單輪車系統，並使其能穩定平衡且達到軌跡追隨控制。論文中吾人以Euler-Lagrange法推導其完整的三維空間動態數學模型，再針對此數學模型進行系統模擬及順滑模態控制器設計，論文中吾人以加速規、陀螺儀及電子羅盤等慣性量測單元(inertial measurement units)來偵測系統姿態，並輔以互補濾波器以得到較佳之回授訊號，最後以數位訊號處理器(TMS320F2812)實現單輪車機器人路徑追隨控制。實驗證明所設計之系統可達到路徑追隨之目的。

In recent years, the development of wheeled-type robots has been a highly active research field. A unicycle robot consists of only one driving wheel that contacts the ground, so that the unicycle robot is a highly unstable system. The unicycle robot is commonly used to study the performance of many nonlinear control schemes. In this thesis, the Euler-Lagrange method is used to derive the three-dimensional dynamic model of the system. Then the system model is used for the system simulation and designing a sliding mode controller for the path following. Inertial measurement units are used to sense posture angles of the system. The complementary filter is used to obtain the less noisy feedback signals from the inertial measurement devices. Finally, the path following control law is implemented through a digital signal processor (TMS320F2812). The experimental results show that the system performs well.

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