A Robust Adaptive Friction Control of Robot Manipulators using Sliding Surface

슬라이딩 표면을 이용한 로봇 매니퓰레이터의 강건한 적응 마찰 제어

  • 배준경 (경남과학기술대학교 메카트로닉스공학과)
  • Received : 2011.09.16
  • Accepted : 2009.10.15
  • Published : 2011.11.01


In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.


Robust adaptive friction control scheme;Sliding surface;Adaptive update law;Lyapunov function;Chattering elimination


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