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<p>Robotic arm is a complex system with multiple inputs and outputs, strong nonlinearity and strong coupling, and the research of high precision trajectory tracking control technology for robotic arm has been an important issue for scholars at home and abroad. This paper takes the six-degree-of-freedom (6-DOF) robotic arm as its study object and designs a fractional-order PID (FOPID) control method. To improve its control accuracy, a parameter tuning method of fractional-order beetle antennae particle swarm algorithm (FBPA) optimized FOPID controller is proposed. This method puts the beetle antennae search (BAS) algorithm together with the particle swarm optimization (PSO) algorithm, introduces the concept of fractional-order calculus into the algorithm, dynamically adjusts the inertial weights and fractional order and finally improves the optimization effect of the algorithm. The simulation experiments of MATLAB/Simulink indicate that in comparison with the traditional PID control method, the FOPID control method optimized by the FBPA has high control accuracy and small overshooting, which meets the high-precision control requirements of the 6-DOF robotic arm.</p>

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Trajectory tracking control of a 6-DOF robotic arm based on improved FOPID

  • 期刊论文

  • 发表日期：

    2025年3月31日

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  • Zhou Jiang,
  • Xiaohua Zhang,
  • Guoquan Liu

摘要

Robotic arm is a complex system with multiple inputs and outputs, strong nonlinearity and strong coupling, and the research of high precision trajectory tracking control technology for robotic arm has been an important issue for scholars at home and abroad. This paper takes the six-degree-of-freedom (6-DOF) robotic arm as its study object and designs a fractional-order PID (FOPID) control method. To improve its control accuracy, a parameter tuning method of fractional-order beetle antennae particle swarm algorithm (FBPA) optimized FOPID controller is proposed. This method puts the beetle antennae search (BAS) algorithm together with the particle swarm optimization (PSO) algorithm, introduces the concept of fractional-order calculus into the algorithm, dynamically adjusts the inertial weights and fractional order and finally improves the optimization effect of the algorithm. The simulation experiments of MATLAB/Simulink indicate that in comparison with the traditional PID control method, the FOPID control method optimized by the FBPA has high control accuracy and small overshooting, which meets the high-precision control requirements of the 6-DOF robotic arm.