Aiming at the problem of balance stability caused by uncertain disturbance and imprecise model, a cascade fuzzy adaptive PID controller is designed. The controller uses the flywheel inertial system, space state equation and motion control strategy for mathematical modeling, relies on the model predictive control technology to obtain the current attitude information of the unmanned bicycle, combines the fuzzy adaptive PID algorithm and linear quadratic control method to design the system controller, and uses the reaction inertia moment generated by the inertia flywheel when changing the acceleration, Realize the static balance control of the unmanned bicycle, input the handlebar angle and rear wheel speed to realize the motion control of the unmanned bicycle. The results of simulation test and prototype experiment prove the rationality and effectiveness of the upright control and motion control of the unmanned bicycle, which makes the system have the ability of anti-interference and strong robustness.