Aiming at problem of parameter selection for linear quadratic optimal controller（linear quadratic regulator

LQR） of the two-wheeled self-balancing robot

a weight matrix parameters optimization strategy based on adaptive ant colony algorithm is proposed. The method uses LQR controller

and all parameters of LQR weighting matrices Q are digitally optimized using adaptive ant colony algorithm. The obtained digital sequence is divided to find the optimal parameter

and the pitch properties of two-wheeled self-balancing robot are used to control the system. The simulation results show that the proposed method has better control effect than the artificial selection parameters strategy

and the stability and effectiveness of the proposed method is verified by using ant colony algorithm.