The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
Tomei, P. (1999). Robust adaptive friction compensation for tracking control of robots. In IEEE Conference on Control Applications - Proceedings (pp.875-880). IEEE, Piscataway, NJ, United States.