本研究針對倒單擺系統，提出創新的姿態估測與控制方法，使人型輪式倒單擺機器人在縱向移動上具防打滑與一定的追跡能力。在姿態估測上，藉由重力向量恆定的特性以估測姿態，配合訊號融合技術與運動分析，達成此估測器的收斂性與性能。在控制器設計上，由分析倒單擺載具的動態，推導線性矩陣不等式(LMI)，一證明引入積分的防滑插值控制器的收斂性與設計方法，再以卡爾曼濾波器估測打滑狀況以獲得插值控制的插值指標，二證明無插值之強健線性控制器之收斂性與設計方法。最後以模擬與實作人型倒單擺機器人驗證理論的可行性。

This research investigates robust balancing and tracking control issues associated with a humanoid wheeled-inverted-pendulum(WIP) robot. Particularly, a method to estimate the attitude of WIP vehicle and an anti-slip interpolating controller with integral action are proposed. In the attitude estimating method, dynamics and the sensor fusion technique are applied to realize the gravity estimator. The convergence rate of the estimator is also studied. In the controller design, the dynamics of the typical WIP vehicle is analyzed and is further applied with an integral control. A set of linear matrix inequalities (LMI’s) is derived to prove the controller convergence rate. Finally, simulations are conducted and a humanoid WIP robot is constructed to validate the performance of the estimation method and the control system.

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