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

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 c...

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Bibliographic Details
Published inMathematical problems in engineering Vol. 2014; no. 1
Main Author Fang, Jian
Format Journal Article
LanguageEnglish
Published New York Hindawi Publishing Corporation 01.01.2014
John Wiley & Sons, Inc
Subjects
Algorithms
Alliances
Automobile industry
Balancing
Control methods
Control stability
Control systems
Control systems design
Controllers
Design
Design engineering
Design optimization
Dynamic models
Engineering
Frequency stability
Mathematical models
Methods
Oscillations
Particle swarm optimization
Robot control
Robots
Swarm intelligence
Systems stability
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ISSN1024-123X
1026-7077
1563-5147
1563-5147
DOI10.1155/2014/729095

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Summary: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.
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ISSN:1024-123X
1026-7077
1563-5147
1563-5147
DOI:10.1155/2014/729095