Precision control of a multi-axis robotic arm using sliding mode control with PID control method

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.