A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator: Addressing Perturbations with FOPID and SMC

Abstract

This paper explores position-tracking control strategies for a two-link robotic manipulator, focusing on achieving robust performance and precision under 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.