麥卡倫輪型移動機器人具有可任意在平面上移動而不需改變其姿態及可任意旋轉的優點，不管在學術界或產業界上都有相關的研究或應用。本論文主旨在於設計與實現麥卡倫輪型移動機器人系統軌跡追蹤控制。麥卡倫輪型移動機器人為一非完整約束系統，論文中將先以Euler-Lagrange方法搭配Lagrange multiplier推導出麥卡倫輪型移動機器人之動態數學模型，針對此模型利用狀態回授線性化消除系統之非線性項，分別結合PID控制與順滑模態控制設計軌跡追蹤控制器，並利用MATLAB/Simulink模擬可能性。在實作上，本系統以數位訊號處理器做為控制核心，以C語言實現控制演算法，並利用慣性感測器、室內定位模組、即時動態定位系統回授機器人位置與姿態，用以消除光學編碼器因車輪滑動而造成的回授軌跡誤差。最後，由模擬與實驗結果驗證了所完成之系統可達到軌跡追蹤之目的。

The main objective of this thesis is to design and implement the trajectory tracking control of a Mecanum-wheeled mobile robot. The constrained Euler-Lagrange method with the Lagrange multiplier is used to derive the dynamic model of the system. In the control design, the state feedback linearization is used to eliminate the nonlinear terms of the system. Base on the obtained linear system, PID control, and sliding mode control are used to design the tracking control system. MATLAB/Simulink are used to simulate the designed control system. In experiments, the control laws are implemented through a digital signal processor. An inertial measurement unit is used as a posture sensor. The indoor GPS module and real-time kinematic system are used to eliminate the position error obtained by encoders when the wheels slip. The simulation and experimental results show that the control system accomplishes trajectory tracking with good performance.

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