以一种由一个车轮驱动并控制前向平衡、由电机驱动惯性轮形成反力矩控制侧向平衡的独轮机器人系统为被控对象,建立系统动力学模型,并将其在平衡点线性化,得到系统在前向和侧向两个正交方向解耦的近似线性模型.然后针对每一个控制方向上的子系统,分别设计基于融合函数的模糊控制器.该方法可以减少模糊规则,防止规则爆炸.仿真实验表明,所设计的模糊控制器可有效地实现独轮机器人的运动平衡控制. In this paper, a unicycle robot system driven by one wheel to control the forward balance and the counter-moment control lateral balance by the motor-driven flywheel is taken as the controlled object, a system dynamics model is established and linearized at the equilibrium point, The approximate linear model of the system decoupling in the forward and lateral directions is obtained and then the fuzzy controller based on the fusion function is designed for each subsystem in the control direction.The method can reduce the fuzzy rules and prevent the rules Explosion.The simulation results show that the designed fuzzy controller can effectively control the motion of the unicycle robot.