COMBINED ADAPTIVE LI - SLOTINE CONTROL ALGORITHM WITH OBSERVATIONS FOR ROBOT ALMEGA 16 IN JOINT SPACE

Abstract

The content of the article deals with the application of the Li - Slotine
adaptive controller with an adaptive state observer for the Almega16 Robot
motion system and has demonstrated the stability of the controller according to
Lyapunov standards. In which, the state observer uses the adaptive law to
calculate the estimate of the constant dynamic parameters, sending the
observed value of the speed. The controller receives the robot position feedback
signal through the sensor, the speed feedback signal through the observer and
then calculates to give the corresponding control torque of the robot and the
observer. In the control structure diagram of the Almega 16 robot motion
system, there is always a system to identify uncertain constants with adaptive
update rules used for continuous adjustment so that the actual parameter values
follow the exact parameters and the parameter value set with the position error
of the end-acting joint quickly approaches zero and is accurate.