Abstract:

This paper examines position-tracking control strategies for a two-link robotic manipulator, focusing on achieving robust performance and precision in the presence of dynamic uncertainties. The proportional-integral-derivative (PID) controller is initially employed as a benchmark to highlight its limitations in handling nonlinearity and disturbances. We propose a fractional-order PID (FOPID) controller and sliding mode control (SMC) as advanced alternatives to overcome these challenges. The controllers are compared based on their tracking accuracy, robustness, and response to disturbances. Stability analysis for the SMC is conducted using Lyapunov theory to ensure reliable performance under varying conditions. Simulation results demonstrate the comparative advantages of FOPID and SMC over PID, particularly in improved tracking precision and robustness. This study provides valuable insights into designing and evaluating control strategies for robotic manipulators operating in uncertain environments.

Speaker Bio:

Mr. Mubarak Badamasi Aremu received the B.Eng. degree in Mechatronics Engineering from Bayero University Kano, Nigeria, in 2019, and the M.Sc. degree in Systems and Control Engineering from the Department of Control and Instrumentation Engineering, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia, in 2024. He is currently pursuing a Ph.D. degree in the same department at KFUPM. His research interests include control systems, optimization, robotics, and autonomous systems, focusing on their applications in industrial and intelligent environments.