[7] [7] LI Z Q, ZHOU Q K, ZHANG Z Y, et al. Prestiction friction compensation in direct-drive mechatronics systems[J]. Journal of Central South University, 2013, 20(11): 3031-3041.

[14] [14] YUE F, LI X. Robust adaptive integral backstepping control for opto-electronic tracking system based on modified lugre friction model[J]. ISA Transactions, 2018, 80: 312-321.

[15] [15] FRIEDLAND B, PARK Y J. On adaptive friction compensation[J]. IEEE Transactions on Automatic Control, 1992, 37(10): 1609-1612.

[16] [16] ARMSTRONGHELOUVRY B, DUPONT P, DEWIT C. A survey of models, analysis tools and compensation methods for the control of machines with friction[J]. Automatica, 1994, 30(7): 1083-1138.

[17] [17] POSA M, TOBENKIN M, TEDRAKE R. Stability analysis and control of rigid-body systems with impacts and friction[J]. IEEE Transactions On Automatic Control, 2016, 61(6): 1423-1437.

[21] [21] DENG Y, WANG J, LI H, et al. Adaptive sliding mode current control with sliding modedisturbance observer for pmsm drives[J]. ISA Transactions, 2019, 88: 113-126.

[23] [23] YU X, KAYNAK O. Sliding-mode control with soft computing: A survey[J]. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3275-3285.

[24] [24] ZHANG X. Robust integral sliding mode control strategy under designed switching rules for uncertain switched linear systems via multiple lyapunov functions[J]. Transactions of the Institute of Measurement and Control, 2019, 41(12): 3536-3549.

[25] [25] XU Y, WU A, ZHU Q, et al. Observer-based sliding mode control for flexible spacecraft with external disturbance[J]. IEEE Access, 2020, 8: 32477-32484.

[26] [26] ZHANG B, NIE K, CHEN X, et al. Development of sliding mode controller based on inter-nal model controller for higher precision electro-optical tracking system[J]. Actuators, 2022, 11(1): 16.

[27] [27] GONG C, HU Y, GAO J, et al. An improved delay-suppressed sliding-mode observer for sen-sorless vector-controlled pmsm[J]. IEEE Transactions on Industrial Electronics, 2020, 67(7): 5913-5923.

[28] [28] JIANG J, ZHOU X, ZHAO W, et al. A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(8): 1239-1250.

[30] [30] WANG Y, CAO L, ZHANG Sh, et al. Command filtered adaptive fuzzy backstepping control method of uncertain non-linear systems[J]. IET Control Theory & Applications, 2016, 10(10): 1134-1141.

[34] [34] de WIT C C, OLSSON H, ASTROM K J, et al. A new model for control of systems with friction[J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419-425.

[35] [35] XUE T, LI R, TOKGO M, et al. Trajectory planning for autonomous mobile robot using a hybrid improved qpso algorithm[J]. Soft Computing, 2017, 21(9): 2421-2437.