Trajectory tracking of 4-DOF assembly robot based on quantification factor and proportionality factor self-tuning fuzzy PID control

摘要

When the manipulator performs the assembling task, the performance of the system is easily affected by external interference and parameter changes, resulting in slow tracking response speed and low tracking accuracy. In order to improve the stability and robustness of the controller, a self-tuning fuzzy PID controller with quantification factor and proportionality factor is designed based on the fuzzy PID control. The parameters of the PID controller are dynamically fine-tuned by the fuzzy controller 1, and the quantification factor and proportionality factor are adjusted online by the modifying fuzzy controller 2 to fine-tune the parameters of PID controller. The control effect and robustness of the improved fuzzy PID controller to the manipulator system are simulated and verified on the MATLAB/Simulink platform. The simulation results show that the proposed method significantly improves the transient response speed, tracking accuracy and follower characteristics of the system, and has good dynamic performance.