Abstract: A control strategy based on Backstepping and PID is proposed according to the walk-balancing control problem of multi-variable and nonlinear two-wheeled robot system. In this strategy, fuzzy adaptive is added to Backstepping controller. The unknown nonlinear function in the process of backstepping designing is approximated by fuzzy system, and the parameters of fuzzy system are adjusted based on adaptive law, which can solve the trouble that Backstepping controller is difficulty to implement because of the unknown parameters and avoid the problem that two-wheeled robot system doesn’t satisfy the strict triangular structure. The results of the simulation experiments in the two-wheeled robot show that, the designed control strategy can realize the walk-balancing control task of two-wheeled robot.

Key words: Backstepping, fuzzy adaptive, two-wheeled robot, walk-balancing control

摘要： 针对多变量、非线性的两轮机器人系统的行走平衡控制问题，提出一种基于Backstepping（反推）方法和PID的控制策略。该策略在Backstepping控制器中加入模糊自适应部分，利用模糊系统逼近Backstepping设计过程中的未知非线性函数，模糊系统中的参数基于自适应律调整，解决了Backstepping控制器中因含有未知参数难以实现的困难，避免了两轮机器人系统不满足严格三角结构的问题。针对两轮机器人的仿真实验结果表明：采用设计的控制策略，可以实现两轮机器人的行走平衡控制任务。

关键词: 反推, 模糊自适应, 两轮机器人, 行走平衡控制