雙輪機器人具有結構簡單、可控性強與成本低等優點，成為移動式機器人研究
的一個主要方向。因雙輪倒單擺機器人之動態模型為一不穩定系統，故須經由控制
器控制機器人達到平衡移動的功能。

雙輪機器人運動控制的研究中，以現代控制為架構，並利用狀態回授控制器使
雙輪機器人達到車身平衡、旋轉、定位與行走等。由於行走運動時，當加入未知負
載時，機器人則無法即時因負載調整系統參數，導致雙輪倒單擺機器人無法穩定行
走。

基於上述問題，本研究提出以現代控制為基礎架構，利用自迴歸移動平均模式
建立出離散時間的參數模型，針對雙輪倒單擺機器人在平衡控制下所受外界干擾力
之情況，即時更新車身質量、慣性矩與質心位置等系統參數，配合使用極點擺放的
方法，調整極點擺放控制器的增益值，發展出具有自適應機制的控制器，以達到即
時自調控制器增益增加其強健性，最後並由實驗驗證此控制器之性能。

Two-wheeled has a simple structure, low cost and easy control so that it is regarded
as a popular research. However, two-wheeled inverted pendulum robot is an inherently
unstable system, it needs controller to meet the basic requirement, such as, balance and
movement.

The study of two-wheeled inverted pendulum robot is based on modern control
with state feedback. The robot cannot move steadily while adding unknown payload
result in system parameters changed.

In order to overcome the above problem, using Auto-regressive moving average
model to build the parametric model in discrete time for updating the system parameters
(including mass, inertial of moment and the center of gravity, etc.) By updating the
system parameters to adjust the control gain from pole-placement controller to enhance
its robustness. In the end, using experiments to very its performance.

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