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This paper presents a continuous friction feedforward sliding mode controller (CFSMC) for a TriMule hybrid robot to improve its trajectory-tracking performance. The dynamic model depicts that the TriMule robot is a multivariable system with nonlinearity and strong coupling, which poses significant challenges in controller design. Hence, a novel CFSMC that consists of a friction feedforward control loop and a continuous sliding mode feedback control loop is specially developed. The feedforward control item calculated with a speed related function is used to handle discontinuous friction disturbance and achieve good transient performance. The feedback control item designed with a continuous sliding mode algorithm is applied to cope with other nonlinear dynamics and assure zero steady-state error. The robustness of the proposed hybrid control scheme is validated in the sense of Lyapunov. Comparative …