The LQR Controller Design of Two-Wheeled Self-Balancing Robot Based on the Particle Swarm Optimization Algorithm

Abstract

The dynamics model is established in view of the self-designed, two-wheeled, and self-balancing robot. This paper uses the particle swarm algorithm to optimize the parameter matrix of LQR controller based on the LQR control method to make the two-wheeled and self-balancing robot realize the stable control and reduce the overshoot amount and the oscillation frequency of the system at the same time. The simulation experiments prove that the LQR controller improves the system stability, obtains the good control effect, and has higher application value through using the particle swarm optimization algorithm.