中文摘要：

利用拉格朗日建模方法推导出基于惯性飞轮平衡原理的独轮机器人侧向通道动力学方程．在该动力学方程基础上分别设计了PD和LQR两种控制器，并分别进行了仿真和物理实验验证．实验中独轮机器人从侧倾一定角度，在控制的惯性飞轮运动作用下最终回到竖直平衡位置，完成了独轮机器人侧平衡控制目标．仿真和物理实验结果均证明了所建立的动力学方程的正确性和控制器的有效性．

英文摘要：

This paper proposed a single wheel robot （SWR） applying flywheel to maintain lateral balance, and derived the dynamic model on the lateral direction according to Lagrange equation. Based on the dynamic model, PD and LQR controllers were designed, and performed in simulation and physical prototype, respectively. During the experiments, the SWR initially leaned to the side direction at a certain degree, and then it finally stabilized at the vertical stable position by controlling the flywheel motion, completing the lateral stabilization of SWR. Both results verified the dynamic model.