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
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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
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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 -