Abstract: In order to deal with the low precision, big stable state error and slow response dynamic of traditional control method on robotic manipulator control, a novel control method based on fractional order-fuzzy control-adaptive disturbance rejection control (FO-FC-ADRC) is proposed to control the robotic manipulator: the tracking differentiator is used to extract the speed and acceleration of manipulator without sensors; the fractional order PID (FO-PID) is adopted to realize the zero error control of robotic manipulator system, which is essentially a fractional order system; the fuzzy is utilized to optimize the parameters of the FO-PID in real time, which can improve the performance of the proposed control. The proposed FO-FC-ADRC is compared with the conventional PID control by simulation, and the results show that the proposed control for trajectory tracking of robotic manipulator is much better than the conventional PID both in dynamic and static performance index.

Key words: Robot manipulator, trajectory tracking, fractional order-fuzzy control-adaptive disturbance rejection control (FO-FC-ADRC), sensor, steady-state error

摘要： 为了解决传统控制方法在处理机器人手臂多关节运动轨迹控制问题时的精度低、稳态误差大、响应速度慢等缺点，提出一种基于分数阶模糊自抗扰控制器的机器人手臂轨迹跟踪控制方法：利用跟踪微分器，实现关节速度和加速度的无传感器提取；采用分数阶PID控制器，实现本质上为分数阶系统的机器人手臂的无差控制；利用模糊控制，实现分数阶PID参数的实时优化，提高系统整体控制性能。通过仿真实验对比了所提方法与传统PID控制器的控制性能，MATLAB/SIMULINK中的仿真结果表明，提出的控制器在轨迹跟踪的响应速度和稳态误差等方面具有非常明显的优越性。

关键词: 机器人手臂, 轨迹跟踪, 分数阶模糊自抗扰控制, 传感器, 稳态误差