Wang, ChingweiChingweiWangYU-HSIANG HSUCHIH-KUNG LEETol, SerifeNouh, Mostafa A.Yang, JinkyuHuang, GuoliangLi, XiaopengChen, YangyangSugino, Christopher2025-07-072025-07-072025-03-17https://www.scopus.com/record/display.uri?eid=2-s2.0-105007429743&origin=resultslisthttps://scholars.lib.ntu.edu.tw/handle/123456789/730602With 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.attitude controlDenavit-Hartenbergmulti-axis robotic armPID controlsliding mode controlsteady-state errorconference paper10.1117/12.3051428