A Hybrid PID-Enhanced Sliding Mode Control Strategy for Robust Visual Servoing in Six-Axis Robotic Arms

Visual servoing of six-axis robotic arms faces significant challenges in dynamic and uncertain environments, particularly due to external disturbances and modeling inaccuracies. This study proposes a hybrid control strategy combining Proportional-Integral-Derivative (PID) control with Sliding Mode Control (SMC) within an Image-Based Visual Servoing (IBVS) framework. By embedding PID control into the SMC sliding surface, the proposed method enhances trajectory smoothness, improves disturbance rejection capability, and effectively reduces chattering. Experimental validation on a six-axis robotic arm demonstrates that the proposed approach achieves a trajectory tracking error reduction of 30%, and an improves robustness by 50% under dynamic and uncertain conditions compared to conventional methods. These results confirm the effectiveness and superiority of the proposed hybrid control strategy in real-world robotic applications.