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

Mubarak Badamasi Aremu; Khaled S. Bin Gaufan; Nezar M. Alyazidi; Sami El-Ferik

doi:10.1109/SSD64182.2025.10990020

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

Mubarak Badamasi Aremu, Khaled S. Bin Gaufan, Nezar M. Alyazidi, Sami El-Ferik

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	958-963
Number of pages	6
ISBN (Electronic)	9798331542726
DOIs	https://doi.org/10.1109/SSD64182.2025.10990020
State	Published - 2025
Event	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 - Monastir, Tunisia Duration: 17 Feb 2025 → 20 Feb 2025

Publication series

Name	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025

Conference

Conference	22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025
Country/Territory	Tunisia
City	Monastir
Period	17/02/25 → 20/02/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Keywords

FOPID
Lyapunov stability
PID
Robotic manipulator
SMC
external disturbances
position tracking

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Information Systems
Signal Processing
Safety, Risk, Reliability and Quality
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD64182.2025.10990020

Cite this

Aremu, M. B., Bin Gaufan, K. S., Alyazidi, N. M., & El-Ferik, S. (2025). A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator: Addressing Perturbations with FOPID and SMC. In 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 (pp. 958-963). (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD64182.2025.10990020

Aremu, Mubarak Badamasi ; Bin Gaufan, Khaled S. ; Alyazidi, Nezar M. et al. / A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator : Addressing Perturbations with FOPID and SMC. 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 958-963 (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025).

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title = "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.",

keywords = "FOPID, Lyapunov stability, PID, Robotic manipulator, SMC, external disturbances, position tracking",

author = "Aremu, \{Mubarak Badamasi\} and \{Bin Gaufan\}, \{Khaled S.\} and Alyazidi, \{Nezar M.\} and Sami El-Ferik",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025 ; Conference date: 17-02-2025 Through 20-02-2025",

year = "2025",

doi = "10.1109/SSD64182.2025.10990020",

language = "English",

series = "22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025",

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Aremu, MB, Bin Gaufan, KS, Alyazidi, NM & El-Ferik, S 2025, A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator: Addressing Perturbations with FOPID and SMC. in 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025, Institute of Electrical and Electronics Engineers Inc., pp. 958-963, 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025, Monastir, Tunisia, 17/02/25. https://doi.org/10.1109/SSD64182.2025.10990020

A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator: Addressing Perturbations with FOPID and SMC. / Aremu, Mubarak Badamasi; Bin Gaufan, Khaled S.; Alyazidi, Nezar M. et al.
22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 958-963 (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Aremu, Mubarak Badamasi

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N2 - 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.

AB - 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.

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Aremu MB, Bin Gaufan KS, Alyazidi NM , El-Ferik S. A Control Perspective on Position Tracking of a Two-Link Robotic Manipulator: Addressing Perturbations with FOPID and SMC. In 22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 958-963. (22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025). doi: 10.1109/SSD64182.2025.10990020

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

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this