Abstract: Based on the chattering phenomena in the control of the Two-Wheeled Self-Balancing Robot,a kind of fast tracking time limited recursive least square estimation method was proposed to implement the barycenter offset identification of the robot.The result of simulation shows that,this method can estimate the parameter very fast in the sudden change of the parameter.By adding a inertial device of inclinometer,the zero position of inclinometer B can be adjusted t by using the offset angle which was acquired from the data of inclinometer A,and the data acquired from the data of inclinometer B was used as the input of the feedback controller and carry out the balancing control of robot.The analysis shows that this control strategy considering the barycenter offset is a kind of adaptation control method,can effectively remove the chattering phenomena,and then improve the robustness of the balancing control for the Two-Wheeled Self-Balancing Robot.