Comparison and Optimization of Intelligent Control for a Two-Link Robot Manipulator

We investigate the control of a two-link robot manipulator through the application of sliding mode control (SMC), proportional-integral-derivative (PID) control, and their hybrid control strategy.Firstly, a mathematical model incorporating nonlinear coupling effects is derived based on the Lagrangian method.Then, SMC, PID, and hybrid controllers are compared based on disturbance rejection, stability, and time-domain responses.In addition, a genetic algorithm (GA) is employed for PID parameter optimization, improving system performance and efficiency.Overall, the PID-SMC controller achieves an effective balance between stability and response tracking accuracy.The results of this study provide a reference for control strategy development in robotic systems, aligning with smart manufacturing applications.