Power-assist system technology and its applications to manufacturing systems, constructing systems, rehabilitation and welfare services have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems exist. However, the effect of such uncertainties as Coulomb friction on the power-assist systems has not been fully addressed. This study proposes a controller design method for the robustness improvement of power-assist control. Especially, we pay attention to the influence of uncertain Coulomb friction and design the servo control system consisting of two parts. The first part is an on-line impedance control simulator which works as the reference generator. The other one is a sliding mode controller to suppress the errors between the references and corresponding responses. By applying the method to the positioning problem of a cart, the effectiveness of the method is verified by experiments.
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Susumu Hara (2004) studied this question.