Trajectory planning and control of bionic dual‐arm underwater robotic manipulators (BDA‐URMs) are highly challenging due to the complex interactions between the manipulator’s base, its dual arms, and the nonlinear underwater dynamics. This study proposes a novel hybrid controller to enhance trajectory tracking and control of a BDA‐URM. The proposed hybrid control strategies integrate a proportional‐integral‐derivative (PID) controller and overwhelming control, which are tuned using various methods, including Ziegler–Nichols (Z‐N), genetic algorithm (GA), ant colony optimization (ACO), and particle swarm optimization (PSO) for generating precise motions. A comprehensive Simulink model is developed, incorporating the bionic dual‐arm, buoyancy, and hydrodynamic forces to analyze system dynamics. The PSO–based tuning of the hybrid controller demonstrated superior trajectory tracking performance compared to other methods. The controller achieved significant reductions in the integral of time multiplied by absolute error (ITAE) for different joints: link1–joint1 (Arm1), link1–joint2 (Arm2), link2–joint3 (Arm1), and link2–joint4 (Arm2), with improvements of 92.44%, 90.6%, 87.46%, and 89.21%, respectively. The proposed hybrid control method achieved the required stability with an exceptionally fast response time of 0.0089 s, making it highly effective for trajectory control in underwater manipulators.
Yadav et al. (Thu,) studied this question.