Adaptive PID-ILA Control for Active Vibration Suppression of a Double-Link Flexible Robotic Manipulator

Adaptive PID-ILA Control for Active Vibration Suppression of a Double-Link Flexible Robotic Manipulator | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Adaptive PID-ILA Control for Active Vibration Suppression of a Double-Link Flexible Robotic Manipulator Annisa binti Jamali, Intan Zaurah Mat Darus, M. Osman Tokhi This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9231683/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract This paper proposes an adaptive hybrid PID controller tuned using a P-Type Iterative Learning Algorithm (PID-ILA) for active vibration suppression of a double-link flexible robotic manipulator equipped with smart material actuators. Unlike conventional optimization-based tuning methods, the proposed approach adaptively updates PID parameters during operation using error convergence, enabling improved performance with low computational burden. A dynamic model of the manipulator was obtained through system identification using a multilayer perceptron neural network with NARX structure. The controller was validated experimentally using hub-angle motion and end-point acceleration measurements. Results demonstrate that the PID-ILA controller achieves 10–15% higher vibration attenuation compared to the benchmark PSO-PID controller while maintaining zero overshoot and improved tracking accuracy. Additionally, faster parameter convergence and reduced computational requirements make the proposed method suitable for real-time implementation. The findings indicate that PID-ILA provides a practical and effective solution for vibration control of flexible robotic systems. Flexible robotic manipulator neural network iterative learning algorithm vibration attenuation active vibration control adaptive control smart actuators Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 18 May, 2026 Reviews received at journal 10 May, 2026 Reviews received at journal 29 Apr, 2026 Reviewers agreed at journal 22 Apr, 2026 Reviewers agreed at journal 22 Apr, 2026 Reviewers agreed at journal 22 Apr, 2026 Reviewers invited by journal 22 Apr, 2026 Editor assigned by journal 27 Mar, 2026 Submission checks completed at journal 27 Mar, 2026 First submitted to journal 26 Mar, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9231683","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":631565984,"identity":"f0951717-6c66-488b-a5ab-5ae18a96438c","order_by":0,"name":"Annisa binti Jamali","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAv0lEQVRIiWNgGAWjYBACxgYgkcDAIAdlkqDFmHgtMJBIvHrm9rPHHjz4Y5e+4XZz64YffxiiDQ4QclhPXrpBYlty7oY7B9tu9rYx5G4gqKUhx0wisYE5d8ONxLYbvA3EaOl/YyaR8Kc+3QCo5eafP8RomQG0JYHtcAJIy20eNqK0AG1JbDtuOBOkRbZNIncmIS2G/Tlmkj/+VMvz3Uh/dvPNH5vcPoJaGlD5EgwKhLTIY4o0YKoaBaNgFIyCkQ0ASDpLGMLBf+wAAAAASUVORK5CYII=","orcid":"","institution":"Universiti Malaysia Sarawak","correspondingAuthor":true,"prefix":"","firstName":"Annisa","middleName":"binti","lastName":"Jamali","suffix":""},{"id":631565985,"identity":"0f7b6d81-d9dc-4191-b458-b18588956d0f","order_by":1,"name":"Intan Zaurah Mat Darus","email":"","orcid":"","institution":"University of Technology Malaysia","correspondingAuthor":false,"prefix":"","firstName":"Intan","middleName":"Zaurah Mat","lastName":"Darus","suffix":""},{"id":631565986,"identity":"d72cd334-81ae-430c-a09f-412fc234088a","order_by":2,"name":"M. 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