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Due to the problem of nonlinear and time-varying exists in the model of the pneumatic artificial muscle (PAM) trajectory tracking control system, the modeling of the trajectory tracking control of PAM driven by fast switching valves was detailed in order to enhance the trajectory tracking control accuracy of PAM and reduce the cost of control scheme. A feedback PID controller based on the experimental model of PAM was proposed to achieve its high accuracy trajectory tracking control. The control system was divided into three subsystems, which were pneumatic artificial muscle, fast switching valve and the PWM signal. Firstly, the static model of PAM was established by the isometric experiment, and then the dynamic characteristic model of PAM was developed based on the polytropic equation, in which the air mass flow rate through the fast switching valve was evaluated by using the Sanville equation. The PWM signal that was used to control the fast switching valves was generated referring to the pulse signal modulation method. Sequentially, the pressure and trajectory tracking control models of PAM were derived by means of feedback PID controller, based on which the simulations of pressure and trajectory tracking control were implemented in the environment of Matlab/Simulink. The results indicated that the control model can achieve satisfactory performance and accuracy, which validated the feasibility of the proposed model and control scheme. Thus, it provided an effective approach for high accuracy trajectory tracking control of PAM.