Abstract:  In order to improve the seam tracking control performance of the robot，a design approach of fractional-order  controller is proposed. Firstly, According to the principle of the fractional-order, the fractional-order  controller was designed. Secondly, hybrid particle swarm optimization (HPSO) was used to tune fractional-order  controller parameters. This algorithm is on the basis of particle swarm optimization (PSO) and combines the characteristics of genetic algorithm crossover and mutation，which improves the global search ability. The function based on integral of time-weighted absolute error (ITAE) is served as optimization objective, and the multiple signals of the system are simulated. The simulation shows that the fractional-order  controller has a fast convergence speed, good control effect and can achieve the anticipative effect.

Key words:  Seam tracking; fractional-order  controller, hybrid particle swarm optimization (HPSO)

摘要： 针对机器人焊接过程中的焊缝跟踪性能问题，提出一种分数阶 控制方法。首先根据分数阶的原理，设计分数阶 控制器，然后应用混合粒子群算法(HPSO)优化分数阶 控制器的5个参数( )，该算法以粒子群算法为基础，融合遗传算法交叉，变异的特点，提升全局搜索能力。采用改进的误差绝对值时间积分函数(ITAE)作为优化目标，对系统进行多种信号仿真，结果表明HPSO-分数阶 控制器收敛速度快，精度高，鲁棒性强，达到了预期的控制目的。

关键词: 焊缝跟踪, 分数阶控制器, 混合粒子群算法(HPSO)