1. //
  2. Start
  3. //
  4. Publications
  5. Control of a Three-Axis Robot with Super...
  6. Output formats
  7. //

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

Standard

Control of a Three-Axis Robot with Super Twisting Sliding Mode Control. / Rehbein, Jan Philip; Haus, Benedikt; Mercorelli, Paolo.
27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings. ed. / Radu-Emil Precup. Institute of Electrical and Electronics Engineers Inc., 2023. p. 76-81 (International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Rehbein, JP, Haus, B & Mercorelli, P 2023, Control of a Three-Axis Robot with Super Twisting Sliding Mode Control. in R-E Precup (ed.), 27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings. International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 76-81, 27th International Conference on System Theory, Control and Computing - ICSTCC 2023, Timisoara, Romania, 11.10.23. https://doi.org/10.1109/ICSTCC59206.2023.10308490

APA

Rehbein, J. P., Haus, B., & Mercorelli, P. (2023). Control of a Three-Axis Robot with Super Twisting Sliding Mode Control. In R.-E. Precup (Ed.), 27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings (pp. 76-81). (International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSTCC59206.2023.10308490

Vancouver

Rehbein JP, Haus B, Mercorelli P. Control of a Three-Axis Robot with Super Twisting Sliding Mode Control. In Precup RE, editor, 27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2023. p. 76-81. (International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings). doi: 10.1109/ICSTCC59206.2023.10308490

Bibtex

@inbook{d214cdc8dd3b444997342058e37526e5,
title = "Control of a Three-Axis Robot with Super Twisting Sliding Mode Control",
abstract = "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.",
keywords = "Industrial application, Lagrangian modelling, Lyapunov stability, Robotics, Super Twisting Sliding Mode Control, Engineering",
author = "Rehbein, {Jan Philip} and Benedikt Haus and Paolo Mercorelli",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 27th International Conference on System Theory, Control and Computing - ICSTCC 2023, ICSTCC 2023 ; Conference date: 11-10-2023 Through 13-10-2023",
year = "2023",
doi = "10.1109/ICSTCC59206.2023.10308490",
language = "English",
isbn = "979-8-3503-3799-0",
series = "International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "76--81",
editor = "Radu-Emil Precup",
booktitle = "27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings",
address = "United States",
url = "https://icstcc2023.cs.upt.ro/",

}

RIS

TY - CHAP

T1 - Control of a Three-Axis Robot with Super Twisting Sliding Mode Control

AU - Rehbein, Jan Philip

AU - Haus, Benedikt

AU - Mercorelli, Paolo

N1 - Conference code: 27

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Industrial application

KW - Lagrangian modelling

KW - Lyapunov stability

KW - Robotics

KW - Super Twisting Sliding Mode Control

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85179518358&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/ce908c02-4567-3579-b221-3aeb6ebcaa63/

U2 - 10.1109/ICSTCC59206.2023.10308490

DO - 10.1109/ICSTCC59206.2023.10308490

M3 - Article in conference proceedings

AN - SCOPUS:85179518358

SN - 979-8-3503-3799-0

T3 - International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings

SP - 76

EP - 81

BT - 27th International Conference on System Theory, Control and Computing, ICSTCC 2023 - Proceedings

A2 - Precup, Radu-Emil

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 27th International Conference on System Theory, Control and Computing - ICSTCC 2023

Y2 - 11 October 2023 through 13 October 2023

ER -

Other publications by the same author(s)

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

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

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, (E-pub ahead of print) In: IEEE Open Journal of Power Electronics. 14 p.

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

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, In: Machines. 13, 2, 20 p., 110.

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

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, In: Mathematics and Computers in Simulation. 228, p. 178-201 24 p.

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

Neural Network-Based Finite-Time Control for Stochastic Nonlinear Systems with Input Dead-Zone and Saturation

Kharrat, M., Krichen, M., Alhazmi, H. & Mercorelli, P., 11.01.2025, (E-pub ahead of print) In: Arabian Journal for Science and Engineering. 11 p.

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

DOI

Recently viewed

Publications

  1. Validation of an open source, remote web-based eye-tracking method (WebGazer) for research in early childhood
  2. Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials
  3. Adjustable automation and manoeuvre control in automated driving
  4. An observer for sensorless variable valve control in camless internal combustion engines
  5. Multilevel bridge governor by using model predictive control in wavelet packets for tracking trajectories
  6. A PD regulator to minimize noise effect using a minimal variance method for soft landing control of an electromagnetic valve actuator
  7. A simple control strategy for increasing the soft bending actuator performance by using a pressure boost
  8. Use of Machine-Learning Algorithms Based on Text, Audio and Video Data in the Prediction of Anxiety and Post-Traumatic Stress in General and Clinical Populations
  9. Comparison of Trajectory Estimation Methods Based on LIDAR and Monocular Camera in a Simulated Environment
  10. Automatic feature selection for anomaly detection
  11. The Forgotten Function of Forgetting
  12. Kit based motion generator for a soft walking robot
  13. Structural Synthesis of Parallel Robots with Unguided Linear Actuators
  14. Parameterized Synthetic Image Data Set for Fisheye Lens
  15. Document assignment in multi-site search engines
  16. Detection time analysis of propulsion system fault effects in a hexacopter
  17. On the utility of indirect methods for detecting faking
  18. On the origin of passive rotation in rotational joints, and how to calculate it
  19. Homogenization methods for multi-phase elastic composites with non-elliptical reinforcements
  20. Mining Implications From Data
  21. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node
  22. Trait-based approaches to analyze links between the drivers of change and ecosystem services
  23. Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor
  24. Robust Control of Excavation Mobile Robot with Dynamic Triangulation Vision
  25. Optimal dynamic scale and structure of a multi-pollution economy
  26. An error management perspective on audit quality
  27. A high-resolution approach for the spatiotemporal analysis of forest canopy space using terrestrial laser scanning data
  28. Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame
  29. Impulsive Feedback Linearization for Decoupling of a Constant Disturbance with Low Relative Degree to Control Maglev Systems
  30. A Sliding Mode Control with a Bang-Bang Observer for Detection of Particle Pollution
  31. Global Finite-Time Stabilization of Planar Linear Systems With Actuator Saturation
  32. A Lyapunov based PI controller with an anti-windup scheme for a purification process of potable water
  33. The Impact of AGVs and Priority Rules in a Real Production Setup – A Simulation Study
  34. Performance of process-based models for simulation of grain N in crop rotations across Europe
  35. A Control of an Electromagnetic Actuator Using Model Predictive Control
  36. Passive Rotation Compensation in Parallel Kinematics Using Quaternions
  37. Educational reconstruction as model for the theory-based design of student-centered learning environments in electrical engineering courses
  38. An isomorphism between polynomial eigenfunctions of the transfer operator and the Eichler cohomology for modular groups
  39. A geometric approach for the design and control of an electromagnetic actuator to optimize its dynamic performance
  40. Machine vision system errors for unmanned aerial vehicle navigation
  41. Modernizing persistence–bioaccumulation–toxicity (PBT) assessment with high throughput animal-free methods
  42. Factor structure and measurement invariance of the Students’ Self-report Checklist of Social and Learning Behaviour (SSL)
  43. A Structure and Content Prompt-based Method for Knowledge Graph Question Answering over Scholarly Data
  44. Simple relay non-linear PD control for faster and high-precision motion systems with friction
  45. Controlling a Bank Model Economy by Using an Adaptive Model Predictive Control with Help of an Extended Kalman Filter
  46. Reading Comprehension as Embodied Action: Exploratory Findings on Nonlinear Eye Movement Dynamics and Comprehension of Scientific Texts
  47. WHICH ESTIMATION SITUATIONS ARE RELEVANT FOR A VALID ASSESSMENT OF MEASUREMENT ESTIMATION SKILLS
  48. Individual Scans Fusion in Virtual Knowledge Base for Navigation of Mobile Robotic Group with 3D TVS
  49. DISKNET – A Platform for the Systematic Accumulation of Knowledge in IS Research