Stick-slip friction compensation of uncertain robot manipulators using neural network controllers

A sliding-mode based smooth adaptive robust controller for friction compensation

“…The in equation (16) still forms an upper bounding function satisfying (15) even in the presence of hysteresis. Hysteresis can be modelled by using different values of and ¹ in (5) between velocity reversals.…”

“…The control method developed here is able to ensure the global asymptotic stability of the closed-loop system in the presence of friction hysteresis since the in equation (16) still forms an upper-bounding function satisfying (15) in the presence of hysteresis.…”