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Control of a Three-Axis Robot with Super Twisting Sliding Mode Control

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet

Authors

This paper shows the Lagrangian-based modelling of a fully actuated three-axis robot and a control application using a variant of Super Twisting Sliding Mode Control (STSMC) in which the robot is subject to disturbances and model uncertainties to demonstrate the robustness of the proposed method. The stability of the control system is proven with the help of the direct Lyapunov method. In particular, the robustness of the results is validated through computer simulations in which impulsive disturbances are simulated together with a model mismatch due to an uncompensated mechanical friction.

OriginalspracheEnglisch
Titel27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings
HerausgeberRadu-Emil Precup
Anzahl der Seiten6
VerlagInstitute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum2023
Seiten76-81
ISBN (Print)979-8-3503-3799-0
ISBN (elektronisch)979-8-3503-3798-3, 979-8-3503-3797-6
DOIs
PublikationsstatusErschienen - 2023
Veranstaltung27th International Conference on System Theory, Control and Computing - ICSTCC 2023 - Timisoara, Rumänien
Dauer: 11.10.2023 → 13.10.2023
Konferenznummer: 27
https://icstcc2023.cs.upt.ro/

Bibliographische Notiz

Publisher Copyright:
© 2023 IEEE.

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