PSO in Two-Wheeled Self-Balancing Robot Control Research

Fang Jian; Jun Yi Liu

doi:10.4028/www.scientific.net/AMR.898.534

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 898PSO in Two-Wheeled Self-Balancing Robot Control...

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.

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Periodical:

Advanced Materials Research (Volume 898)

Pages:

534-537

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.898.534

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Online since:

February 2014

Authors:

Fang Jian*, Jun Yi Liu

Keywords:

LQR, PSO, Two-Wheeled Self-Balancing Robot

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* - Corresponding Author

References

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