Hybrid Adaptive Control for Robotic Arm Using PID-ILC Approach
Received: 18 July 2025 | Revised: 15 August 2025, 10 September 2025, and 12 September 2025 | Accepted: 15 September 2025 | Online: 9 October 2025
Corresponding author: Dechrit Maneeetham
Abstract
This study presents a hybrid control system that combines Iterative Learning Control (ILC) and Proportional-Integral-Derivative (PID) control to improve the joint control of the SCORBOT ER4u robotic arm. The aim is to improve the accuracy, stability, and efficiency of repeated motion tasks in low-cost instructional robots. PID offers fast response and inherent stability, and ILC progressively refines control performance through repetition. By integrating PID and ILC, the system utilizes their complementary strengths. The controller's performance was evaluated using multiple metrics, including Root Mean Square Error (RMSE), Root Mean Square Percentage Error (RMSPE), Integral of Time-Weighted Absolute Error (ITAE), and Integral of Time-Weighted Squared Error (ITSE), to capture both transient and long-term error characteristics. The hybrid PID-ILC approach reduced steady-state errors by 35% under no-load conditions and by 71% with a 1 kg payload. The system exhibited exceptional stability, with no oscillations or divergence, demonstrating apparent convergence and a bounded response across iterations. These results confirm that the proposed method significantly improves motion precision, reliability, and robustness, making it well-suited for tasks requiring accurate and repetitive control in educational and industrial contexts.
Keywords:
PID-ILC, robotic arm control, error reduction, joint control improvement, hybrid controlDownloads
References
L. Monostori, "Cyber-physical Production Systems: Roots, Expectations and R&D Challenges," Procedia CIRP, vol. 17, pp. 9–13, 2014. DOI: https://doi.org/10.1016/j.procir.2014.03.115
K. Baizid et al., "IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies," Robotics and Computer-Integrated Manufacturing, vol. 42, pp. 121–134, Dec. 2016. DOI: https://doi.org/10.1016/j.rcim.2016.06.003
R. U. Islam, J. Iqbal, S. Manzoor, A. Khalid, and S. Khan, "An autonomous image-guided robotic system simulating industrial applications," in 2012 7th International Conference on System of Systems Engineering (SoSE), Genova, Italy, Jul. 2012, pp. 344–349. DOI: https://doi.org/10.1109/SYSoSE.2012.6384195
Y. Kim and S. Kim, "Automation and Optimization of Food Process Using CNN and Six-Axis Robotic Arm," Foods, vol. 13, no. 23, Nov. 2024, Art. no. 3826. DOI: https://doi.org/10.3390/foods13233826
F. Cepolina and R. Razzoli, "Review of robotic surgery platforms and end effectors," Journal of Robotic Surgery, vol. 18, no. 1, Feb. 2024, Art. no. 74. DOI: https://doi.org/10.1007/s11701-023-01781-x
C. Urrea and J. Kern, "Recent Advances and Challenges in Industrial Robotics: A Systematic Review of Technological Trends and Emerging Applications," Processes, vol. 13, no. 3, Mar. 2025, Art. no. 832. DOI: https://doi.org/10.3390/pr13030832
V. Román-Ibáñez, F. Pujol-López, H. Mora-Mora, M. Pertegal-Felices, and A. Jimeno-Morenilla, "A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming," Sustainability, vol. 10, no. 4, Apr. 2018, Art. no. 1102. DOI: https://doi.org/10.3390/su10041102
E. Ananias and P. D. Gaspar, "A Low-Cost Collaborative Robot for Science and Education Purposes to Foster the Industry 4.0 Implementation," Applied System Innovation, vol. 5, no. 4, Jul. 2022, Art. no. 72. DOI: https://doi.org/10.3390/asi5040072
M. Tiboni et al., "Low-Cost Design Solutions for Educational Robots," Journal of Robotics and Mechatronics, vol. 30, no. 5, pp. 827–834, Oct. 2018. DOI: https://doi.org/10.20965/jrm.2018.p0827
H. M. Ali, Y. Hashim, and G. A. Al-Sakkal, "Design and implementation of Arduino based robotic arm," International Journal of Electrical and Computer Engineering (IJECE), vol. 12, no. 2, Apr. 2022, Art. no. 1411. DOI: https://doi.org/10.11591/ijece.v12i2.pp1411-1418
C. Zeng, H. Zhou, W. Ye, and X. Gu, "iArm: Design an Educational Robotic Arm Kit for Inspiring Students’ Computational Thinking," Sensors, vol. 22, no. 8, Apr. 2022, Art. no. 2957. DOI: https://doi.org/10.3390/s22082957
K. Chenchireddy, R. Dora, G. B. Mulla, V. Jegathesan, and S. A. Sydu, "Development of robotic arm control using Arduino controller," IAES International Journal of Robotics and Automation (IJRA), vol. 13, no. 3, Sep. 2024, Art. no. 264. DOI: https://doi.org/10.11591/ijra.v13i3.pp264-271
Y. H. T. Htun, M. S. Hlaing, and T. T. Hla, "Master-Slave Synchronization of Robotic Arm using PID Controller," Indonesian Journal of Electrical Engineering and Informatics (IJEEI), vol. 11, no. 1, pp. 77–87, Jan. 2023. DOI: https://doi.org/10.52549/ijeei.v11i1.4171
P. Sutyasadi, M. B. Wicaksono, and D. Maneetham, "Improvement Control of a Three Axis Articulated Robotic Arm Using PID Cascade Control," in 2023 11th International Conference on Cyber and IT Service Management (CITSM), Makassar, Indonesia, Nov. 2023, pp. 1–4. DOI: https://doi.org/10.1109/CITSM60085.2023.10455548
K. Ali, S. Ullah, A. Mehmood, H. Mostafa, M. Marey, and J. Iqbal, "Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation," IEEE Access, vol. 10, pp. 3378–3389, 2022. DOI: https://doi.org/10.1109/ACCESS.2021.3139041
P. Chotikunnan and R. Chotikunnan, "Dual Design PID Controller for Robotic Manipulator Application," Journal of Robotics and Control (JRC), vol. 4, no. 1, pp. 23–34, Feb. 2023. DOI: https://doi.org/10.18196/jrc.v4i1.16990
A. N. Wazzan, N. Basil, M. Raad, and H. K. Mohammed, "PID Controller with Robotic Arm using Optimization Algorithm," International Journal of Mechanical Engineering, vol. 7, no. 2, pp. 3746–3751, 2022.
S. Müftü and B. Gökçe, "Design and Implementation of an Optimized PID Controller for Two-Limb Robot Arm Control," Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 13, no. 1, pp. 192–204, Mar. 2024. DOI: https://doi.org/10.17798/bitlisfen.1370223
J. O. Pedro and R. V. Smith, "Real-Time Hybrid PID/ILC Control of Two-Link Flexible Manipulators," IFAC-PapersOnLine, vol. 50, no. 2, pp. 145–150, Dec. 2017. DOI: https://doi.org/10.1016/j.ifacol.2017.12.027
E. Parikesit, D. Maneetham, and P. Sutyasadi, "Control of robot-assisted gait trainer using hybrid proportional integral derivative and iterative learning control," International Journal of Electrical and Computer Engineering (IJECE), vol. 12, no. 6, Dec. 2022, Art. no. 5967. DOI: https://doi.org/10.11591/ijece.v12i6.pp5967-5978
J. Iqbal, N. G. Tsagarakis, and D. G. Caldwell, "A multi-DOF robotic exoskeleton interface for hand motion assistance," in 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, Aug. 2011, pp. 1575–1578. DOI: https://doi.org/10.1109/IEMBS.2011.6090458
J. Iqbal, O. Ahmad, and A. Malik, "HEXOSYS II - towards realization of light mass robotics for the hand," in 2011 IEEE 14th International Multitopic Conference, Karachi, Pakistan, Dec. 2011, pp. 115–119. DOI: https://doi.org/10.1109/INMIC.2011.6151454
J. L. Lin, H. P. Huang, and C. Y. Lin, "Iterative Learning Control for Vibration Suppression of a Robotic Arm," Applied Sciences, vol. 13, no. 2, Jan. 2023, Art. no. 828. DOI: https://doi.org/10.3390/app13020828
O. Saleem, A. Hamza, and J. Iqbal, "A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot," Computers, vol. 13, no. 11, Nov. 2024, Art. no. 301. DOI: https://doi.org/10.3390/computers13110301
O. Saleem, S. Ali, and J. Iqbal, "Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller," Energies, vol. 16, no. 13, Jun. 2023, Art. no. 5039. DOI: https://doi.org/10.3390/en16135039
S. Astutik, Supeno, S. H. B. Prastowo, T. Prihandono, and S. Bektiarso, "Study of Kinematics and Dynamics of motion at Semanggi Bridge Jember, Indonesia as a contextual in Physics Learning," Journal of Physics: Conference Series, vol. 1832, no. 1, Mar. 2021, Art. no. 012033. DOI: https://doi.org/10.1088/1742-6596/1832/1/012033
I. Agustian, N. Daratha, R. Faurina, A. Suandi, and S. Sulistyaningsih, "Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg," Jurnal Elektronika dan Telekomunikasi, vol. 21, no. 1, Aug. 2021, Art. no. 8. DOI: https://doi.org/10.14203/jet.v21.8-18
J. A. Medrano-Hermosillo, A. E. Rodriguez-Mata, V. A. Gonzalez-Huitron, R. Sandoval, L. Djilali, and O. J. Suarez-Sierra, "Analysis of Forward Kinematics in Robotic Manipulators: Approaches Using Homogeneous Matrices, Screw Theory, Quaternions, and Geometric Algebra," International Journal of Innovative Science, Engineering & Technology, vol. 11, no. 11, Nov. 2024.
Q. Niu, J. Zhao, L. Liang, J. Xing, H. Li, and Z. Wang, "A general framework for the analytical inverse kinematics solution of industrial robots," Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 239, no. 12, pp. 4499–4511, Jun. 2025. DOI: https://doi.org/10.1177/09544062251318236
N. T. Dantam, "Robust and efficient forward, differential, and inverse kinematics using dual quaternions," The International Journal of Robotics Research, vol. 40, no. 10–11, pp. 1087–1105, Sep. 2021. DOI: https://doi.org/10.1177/0278364920931948
Q. Yang, F. Zhang, and C. Wang, "Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems," IEEE/CAA Journal of Automatica Sinica, vol. 11, no. 5, pp. 1227–1238, May 2024. DOI: https://doi.org/10.1109/JAS.2024.124224
R. P. Borase, D. K. Maghade, S. Y. Sondkar, and S. N. Pawar, "A review of PID control, tuning methods and applications," International Journal of Dynamics and Control, vol. 9, no. 2, pp. 818–827, Jun. 2021. DOI: https://doi.org/10.1007/s40435-020-00665-4
A. R. Al Tahtawi, F. S. Putri, and M. Martin, "Position control of AX-12 servo motor using proportional-integral-derivative controller with particle swarm optimization for robotic manipulator application," IAES International Journal of Robotics and Automation (IJRA), vol. 12, no. 2, Jun. 2023, Art. no. 184. DOI: https://doi.org/10.11591/ijra.v12i2.pp184-191
V. T. Ha, T. T. Cao, T. T. Than, T. T. Nguyen, and H. D. B. Thi, "Learning and Uncertainty Compensation in Robotic Motion Systems using Li-Slotine Adaptive Tracking and Intelligent Adaptive Control," Engineering, Technology & Applied Science Research, vol. 15, no. 1, pp. 20461–20470, Feb. 2025. DOI: https://doi.org/10.48084/etasr.9843
M. Hofer, L. Spannagl, and R. D’Andrea, "Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm," in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 2019, pp. 6602–6607. DOI: https://doi.org/10.1109/IROS40897.2019.8967636
P. W. Oliveira, G. A. Barreto, and G. A. P. Thé, "A General Framework for Optimal Tuning of PID-like Controllers for Minimum Jerk Robotic Trajectories," Journal of Intelligent & Robotic Systems, vol. 99, no. 3–4, pp. 467–486, Sep. 2020. DOI: https://doi.org/10.1007/s10846-019-01121-y
Scorbot Er4u User Manual. intelitek, 2001.
V. Tinoco, M. F. Silva, F. N. Santos, R. Morais, S. A. Magalhães, and P. M. Oliveira, "A review of advanced controller methodologies for robotic manipulators," International Journal of Dynamics and Control, vol. 13, no. 1, Jan. 2025, Art. no. 36. DOI: https://doi.org/10.1007/s40435-024-01533-1
C. Zhao and S. Yuan, "Tracking performance of PID for nonlinear stochastic systems." arXiv, 2023.
M. Ali and H. Mirinejad, "Robust tracking control of flexible manipulators using hybrid backstepping/nonlinear reduced-order active disturbance rejection control," ISA Transactions, vol. 149, pp. 229–236, Jun. 2024. DOI: https://doi.org/10.1016/j.isatra.2024.04.026
Downloads
How to Cite
License
Copyright (c) 2025 Martinus Bagus Wicaksono, Dechrit Maneeetham, Petrus Sutyasadi
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
