Abstract: For the heterogeneous system composed of unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) with no leader and fixed directional communication mode, a linear quadratic regulator (PSO-LQR) consensus controller based on particle swarm optimization is designed based on existing consensus controller design methods. First, the UAVs-UGVs heterogeneous system model is established. Second, the PSO-LQR consensus controller is designed based on the consensus problem of the system, and the selection range of consensus control parameters is given. The simulation comparison and analysis with the LQR consensus controller show that the controller reduces the overshoot of the linear quadratic regulator (LQR), and the time to achieve consistency is decreased by 10 seconds, that is, under the effect of the controller, the system parameters can be intelligently adjusted, eliminating the subjectivity of manually selecting parameters and improving the stability time of the system. The overall simulation results show that the drone unmanned vehicle achieves consensus in 27 seconds.