Márton, Lőrinc and Lantos, Béla (2004) Sliding mode robot control with friction and payload estimation. Journal of Advanced Computational Intelligence and Intelligent Informatics, 8 (5). pp. 553-561. ISSN 1343-0130
The paper deals with robust motion control of robotic systems with unknown friction parameters and payload mass. The parameters of the robot arm were considered known with a given precision. To solve the control of the robot with unknown payload mass and friction parameters, sliding mode control algorithm was proposed combined with robust parameter adaptation techniques. Using Lyapunov method it was shown that the resulting controller achieves a guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.
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