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

Jan Philip Rehbein; Benedikt Haus; Paolo Mercorelli

doi:10.1109/ICSTCC59206.2023.10308490

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 -

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