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May 20, 2026Applied System InnovationOpen Access

PID Plus Adaptive Neural Network Control for Trajectory Tracking in Robotic Manipulators: Application to Automated Tape Laying (ATL)

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Authors

JVJosé F. Villa-TiburcioRHRodrigo Hernández-AlvaradoAEAntonio Estrada

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Overview

Randomized trial evaluates trajectory tracking improvement in robotic manipulators, suggesting enhanced accuracy for automated tape laying.

Key Points

  • This article aims to improve positioning accuracy in robotic manipulators used in automated tape laying.
  • Integrated PID controller with Backpropagation Neural Network for real-time control adjustments.
  • Stability analysis conducted using Lyapunov theory.
  • Validation through numerical simulations and experimental tests in real environments.
  • Substantial reduction in tracking error with PID + NN compared to conventional PID controller.
  • Improved control torque profiles evidenced during experimental tests.
  • Demonstrated effectiveness and robustness for high-precision manufacturing applications.

Cite This Study

Villa-Tiburcio et al. (2026) studied this question.

synapsesocial.com/papers/6a0d5013f03e14405aa9ba93https://doi.org/10.3390/asi9050102
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