Robust Control for Robot with Friction Based on Linear State Equation

The robust controller design of the multi-joint robotic dynamics with uncertain friction is studied. First, the dynamical model based on the Lagrange equation is transformed into a linear state equation via feedback control technique. Then corresponding to the state equation, the robust controller is designed by making use of the Lyapunov function. The designed controller makes the actual trace of robot converge to the desired one asymptotically in global sense. As an example of a two-joint robot, the simulation results show the effectiveness of our designed controller