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

Authors: Cuiqiao Li; Ying Sun; Gongfa Li; Du Jiang; Haoyi Zhao; Guozhang Jiang

Addresses: Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, Hubei, China ' Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, China ' Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, Hubei, China ' Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, Hubei, China ' Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China ' Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, Hubei, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, Hubei, China

Abstract: 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.

Keywords: assembly manipulator; trajectory tracking; quantification factor; proportionality factor; fuzzy PID control.

DOI: 10.1504/IJWMC.2020.108536

International Journal of Wireless and Mobile Computing, 2020 Vol.18 No.4, pp.361 - 370

Received: 20 Aug 2019
Accepted: 02 Jan 2020
Published online: 16 Jul 2020 *

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