中文摘要：

针对一种前轮驱动的自行车机器人，研究其在具有内部结构参数和外部环境不确定性因素下实现原地定车的控制方法；给出基于Lagrange方法的定车运动简化力学模型；提出以欠驱动的车架横滚角为输出，将有驱动的前轮转角作为系统内部动态考虑的鲁棒控制器；仿真结果表明，控制器可以实现快速稳定的定车，并且对系统50％的结构参数误差、幅值为1N·m正弦干扰力矩和幅值为10N·m的脉冲干扰力矩体现了较强的鲁棒性；物理样机实验进一步证明，控制器可以在凹凸不平的地面环境、传感器数据不精确及脉冲干扰力矩下实现±3°车架倾角范围的定车运动。

英文摘要：

In view of the effect of uncertain inner stucture parameters and external disturbance, control stratege for track--stand motion of a front--wheel drive bicycle robot was investigated. Dynamic model for track--stand motion was established based on Lagrange＇s equa- tion. Considering iner parameters uncertainty and outer disturbance, a robust controller was designed, in which the under--actuated rolling angle of frame was taken as output and the actuated rotation angle of front--wheel was as system＇s inner dynamic. Simulation shows the pro- posed controller can quickly achieve stable track--stand motion, and the controller is robust to 50% stucture parameters error, 1N · m sine disturbance and 10N · m pulse disturbance. Physical prototype experiment further validates the effectivness of the proposed controller for track--stand motion in ±3°frame rolling angle under uneven ground and disturbance of pulse.