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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 languageEnglish
Title of host publication27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings
EditorsRadu-Emil Precup
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date2023
Pages76-81
ISBN (print)979-8-3503-3799-0
ISBN (electronic)979-8-3503-3798-3, 979-8-3503-3797-6
DOIs
Publication statusPublished - 2023
Event27th 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.

    Research areas

  • Industrial application, Lagrangian modelling, Lyapunov stability, Robotics, Super Twisting Sliding Mode Control
  • Engineering

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Research output: Journal contributions › Journal articles › Research › peer-review

DOI

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