PSO in Two-Wheeled Self-Balancing Robot Control Research

Abstract

Two self-balancing robot is a nonlinear, multivariable, intrinsically unstable motion control system, For traditional LQR controller feedback matrix optimization problem is difficult to determine, Particle swarm optimization algorithm to optimize the LQR controller feedback matrix, The simulation results show, Utilizing particle swarm optimized LQR controller improves the stability of the system, reducing the system overshoot and oscillation frequency.