针对两轮自平衡代步车自平衡控制和转向控制的问题，提出了基于自适应差分进化算法( ADE) 的自抗扰控制( ADRC) 策略和改进的比例－ 积分－ 微分( PID) 控制策略． 首先应用拉格朗日公式法，基于广义坐标下非完整动力学Routh 方程，建立两轮自平衡代步车的非线性数学模型． 然后为自平衡控制部分设计自抗扰控制策略，运用自适应差分进化算法进行参数整定，并为转向控制部分设计融合安排过渡过程( TD) 的PID 控制策略． 最后应用虚拟样机技术，通过Adams 软件建立整车动力学模型，并结合Matlab /Simulink控制策略模型进行联合仿真． 结果表明，文中所提出的控制策略能有效地实现姿态控制，调节速度快，控制精度高，并且具有较强的抗干扰能力．

Aiming at the problems of the self-balancing control and steering control of two-wheeled self-balancing vehicles,an active disturbance rejection control ( ADRC) strategy on the basis of the adaptive differential evolution ( ADE) algorithm and an improved proportion-integral-derivative ( PID) control strategy are proposed.Firstly,on the basis of the nonholonomic dynamic Routh equation in generalized coordinates,a nonlinear mathematical model of two-wheeled self-balancing vehicles is constructed by using the Lagrange formula.Then,an ADRC strategy whose parameters are adjusted by means of the ADE algorithm is designed for the self-balancing control,and a PID control strategy combining tracking differentiator ( TD) is designed for the steering control.Finally,a dynamic model of the whole vehicle is constructed through the Adams software by applying the virtual prototype technology,and a co-simulation is performed by combining the Matlab /Simulink control strategy model.The results show that the proposed control strategies can effectively keep the gesture control with a high adjusting speed,a high control precision and a strong capacity of resisting disturbance.