Trajectory Tracking of Robot Based on Fractional Order Fuzzy PI Controller

In view of the trajectory tracking of the robot, and the fractional order characteristics of DC motor, the traditional PI control method is difficult to achieve accurate tracking results. As a typical intelligent control method, fuzzy control has strong adaptability to control the nonlinear object and the mathematical model non-inaccuracy. Because the system has a certain fractional order characteristic, the fractional order fuzzy parameter self-tuning PI control is selected as the servo motor position controller. It has both the accuracy of the fractional order PI control and the adaptability of the fuzzy control. The simulation model of the system is established using MATLAB/Simulink. The simulation results show the validity of the control method. It can achieve ideal servo control trajectory tracking effect.