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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 729095, 6 pages
Research Article

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

Institute of Electrical Engineering, Jilin Teachers’ Institute of Engineering and Technology, Changchun 130052, China

Received 25 February 2014; Revised 5 May 2014; Accepted 7 May 2014; Published 11 June 2014

Academic Editor: Her-Terng Yau

Copyright © 2014 Jian Fang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.