Adaptive H//sup∞/ control for linear slider with friction compensation - using gradient algorithms with projection -

Adaptive H^∞ control method with frictions compensation and disturbance rejection for robotic manipulators

“…Therefore, in the previous works [16], the control input and estimation strategies contain the discontinuous function term which reflects the component for compensation of the NN approximate error. It has already been noticed that the discontinuous function will cause a risk of exciting high-frequency fluctuations and chattering phenomena for the practical applications [18], [19]. This suggests that a control strategy with discontinuous function is not suitable to apply the practical servo-motion control systems.…”