Control of a Three-Axis Robot with Super Twisting Sliding Mode Control
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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.
| Original language | English |
|---|---|
| Title of host publication | 27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings |
| Editors | Radu-Emil Precup |
| Number of pages | 6 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 2023 |
| Pages | 76-81 |
| ISBN (print) | 979-8-3503-3799-0 |
| ISBN (electronic) | 979-8-3503-3798-3, 979-8-3503-3797-6 |
| DOIs | |
| Publication status | Published - 2023 |
| Event | 27th International Conference on System Theory, Control and Computing - ICSTCC 2023 - Timisoara, Romania Duration: 11.10.2023 → 13.10.2023 Conference number: 27 https://icstcc2023.cs.upt.ro/ |
Bibliographical note
Publisher Copyright:
© 2023 IEEE.
- Industrial application, Lagrangian modelling, Lyapunov stability, Robotics, Super Twisting Sliding Mode Control
- Engineering