摘要
單輪機器人系統因僅有一個驅動輪與地面接觸，因此其系統屬於不穩定之非線性系統，故常被用來驗證各式非線性控制理論的效能。本論文旨在將吾人所設計之單輪機器人系統，利用二階順滑模態控制器，完成穩定平衡之控制且達到弧形與S形之路徑追隨。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與二階順滑模態控制器設計，論文中吾人以慣性量測單元姿態感測器來偵測系統姿態，並輔以卡門濾波器以得到較佳之回授訊號，最後以數位訊號處理器(TMS320F2812)實現單輪機器人路徑追隨控制。實驗證明所設計二階順滑模態控制器應用於單輪機器人系統，確實有相當不錯的控制效能。

關鍵字：單輪機器人；二階順滑模態控制；軌跡追隨；慣性量測單元；卡門濾波器

SUMMARY
The unicycle robot is a nonlinear system which has only a single wheel that interacts with the ground such that the system is unstable and underactuated. This system can be used as a testbed for studying nonlinear control schemes. The main objective of this thesis is to design the second-order sliding mode controller to balance the robot and follow a planned path. The Euler-Lagrange method is used to derive the dynamic model of the system. It is used for the system stimulation and control design. In experiments, an inertial measurement unit is used to measure attitude angles of the system and Kalman filter is used for sensor fusion. The balance and path following control laws are implemented through a digital signal processor (TMS320F2812). To validate the implemented system, the experimental results show the performance of the proposed controller.

Keywords: Unicycle robot, Second-order sliding mode control, Path following, Inertial measurement unit, Kalman filter

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