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Journal of Shanghai Jiaotong University(Science) >

2025 , Vol. 30 >Issue 6: 1179 - 1187

DOI: https://doi.org/10.1007/s12204-023-2660-5

Automation & Computer Technologies

Simulation-Based Novel Hybrid Proportional Derivative/H-Infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm

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  • 1. Computer Engineering Department, Ahmadu Bello University, Zaria 810232, Nigeria; 2. Computer Engineering Department, University of Benin, Benin 300213, Nigeria

Received date: 2022-11-28

  Accepted date: 2023-03-10

  Online published: 2023-10-24

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Abstract

A hybrid control strategy integrating proportional derivative (PD) and the H-infinity control methodology is proposed for a serial two-link robotic manipulator with the goal of improving the tracking performance of the robot arm. The H-infinity controller has the ability to achieve a high performance and robustness in the presence of disturbances and uncertainties, while the PD controller is effective in stabilizing the manipulator. Simulation results using Matlab and Simulink show that the proposed hybrid controller, which integrates the advantages of both PD and H-infinity controllers, has the lowest rise time for the second link, the lowest settling time for the two links, the lowest peak time for both links, and the fastest decay of the error response. In addition, the hybrid control scheme also has the lowest mean square error value, with a 53.3% improvement over the H-infinity controller and a 91.8% improvement over the PD controller, indicating an improved trajectory tracking performance when compared with pure PD and pure H-infinity controllers, respectively. It was also found that the hybrid controller has the lowest integral absolute error, integral square error, integral time absolute error, and integral time square error for the second link, while the error values for the first link are satisfactory, showing a superior performance of the hybrid controller above the PD and H-infinity controllers, respectively.

Cite this article

BANKOLE Adesola Temitope, IGBONOBA Ezekiel Endurance Chukwuemeke . Simulation-Based Novel Hybrid Proportional Derivative/H-Infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm[J]. Journal of Shanghai Jiaotong University(Science), 2025 , 30(6) : 1179 -1187 . DOI: 10.1007/s12204-023-2660-5

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