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Global motion for this class system including sticking, stick-slip, and slip regimes are analysed, and their corresponding equilibria are identified. The control objective is to avoid the sticking and the stick-slip regimes while tracking a desired velocity in the slip regime. Three sliding-mode controllers which are robust to parametric uncertainties are proposed, and their stabilities are proved using the Lyapunov direct method. Two examples, a mass-spring-damping system and a drill-string system, are used to demonstrate the validity of the proposed controllers.<\/jats:p>","DOI":"10.1177\/0142331216661759","type":"journal-article","created":{"date-parts":[[2016,10,7]],"date-time":"2016-10-07T21:50:09Z","timestamp":1475877009000},"page":"514-527","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["Control of a class of multibody underactuated mechanical systems with discontinuous friction using sliding-mode"],"prefix":"10.1177","volume":"40","author":[{"given":"Yang","family":"Liu","sequence":"first","affiliation":[{"name":"College of Engineering Mathematics and Physical Sciences, University of Exeter, 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