Precision control of a multi-axis robotic arm using sliding mode control with PID control method
Journal
Active and Passive Smart Structures and Integrated Systems XIX
Part Of
Active and Passive Smart Structures and Integrated Systems XIX
Start Page
58
Date Issued
2025-03-17
Author(s)
Editor(s)
Tol, Serife
Nouh, Mostafa A.
Yang, Jinkyu
Huang, Guoliang
Li, Xiaopeng
Chen, Yangyang
Sugino, Christopher
Abstract
With the rapid growth of industrial automation, multi-axis robotic arms have been increasingly used in precision manufacturing. However, vibrations during high-speed motion can significantly affect positioning accuracy and system stability. Traditional PID controllers struggle with nonlinear systems like robotic systems which can lead to significant steady-state errors. This study proposes a new control strategy combining a sliding mode control (SMC) along with a PID control (SMC+PID) to create a new hybrid control approach. Numerical analysis shows that a SMC+PID hybrid control strategy can reduce Z-axis steady-state errors from 0.9848 to 0.1183 and can shorten the time to steady-state by 65 %. Our new hybrid control method has shown to be effective in improving stability and enhancing control accuracy.
Event(s)
Active and Passive Smart Structures and Integrated Systems XIX 2025, Vancouver, 17 March 2025 through 21 March 2025. Code 209150
Subjects
attitude control
Denavit-Hartenberg
multi-axis robotic arm
PID control
sliding mode control
steady-state error
Publisher
SPIE
Type
conference paper