{"id":"https://openalex.org/W4388563511","doi":"https://doi.org/10.1109/icstcc59206.2023.10308490","title":"Control of a Three-Axis Robot with Super Twisting Sliding Mode Control","display_name":"Control of a Three-Axis Robot with Super Twisting Sliding Mode Control","publication_year":2023,"publication_date":"2023-10-11","ids":{"openalex":"https://openalex.org/W4388563511","doi":"https://doi.org/10.1109/icstcc59206.2023.10308490"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc59206.2023.10308490","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icstcc59206.2023.10308490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068070494","display_name":"Jan-Philip Rehbein","orcid":null},"institutions":[{"id":"https://openalex.org/I147765834","display_name":"Leipzig University of Applied Sciences","ror":"https://ror.org/03xgcq477","country_code":"DE","type":"education","lineage":["https://openalex.org/I147765834"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jan-Philip Rehbein","raw_affiliation_strings":["Leipzig University of Applied Sciences Karl-Liebknecht-Strae 132,Leipzig,Germany,04277"],"affiliations":[{"raw_affiliation_string":"Leipzig University of Applied Sciences Karl-Liebknecht-Strae 132,Leipzig,Germany,04277","institution_ids":["https://openalex.org/I147765834"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052699650","display_name":"Benedikt Haus","orcid":"https://orcid.org/0000-0003-2040-0784"},"institutions":[{"id":"https://openalex.org/I113456305","display_name":"Leuphana University of L\u00fcneburg","ror":"https://ror.org/02w2y2t16","country_code":"DE","type":"education","lineage":["https://openalex.org/I113456305"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benedikt Haus","raw_affiliation_strings":["Institute for Production Technology and Systems (IPTS) Leuphana University of Lüneburg,Lüneburg,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Production Technology and Systems (IPTS) Leuphana University of Lüneburg,Lüneburg,Germany","institution_ids":["https://openalex.org/I113456305"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035867976","display_name":"Paolo Mercorelli","orcid":"https://orcid.org/0000-0003-3288-5280"},"institutions":[{"id":"https://openalex.org/I113456305","display_name":"Leuphana University of L\u00fcneburg","ror":"https://ror.org/02w2y2t16","country_code":"DE","type":"education","lineage":["https://openalex.org/I113456305"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paolo Mercorelli","raw_affiliation_strings":["Institute for Production Technology and Systems (IPTS) Leuphana University of Lüneburg,Lüneburg,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Production Technology and Systems (IPTS) Leuphana University of Lüneburg,Lüneburg,Germany","institution_ids":["https://openalex.org/I113456305"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068070494"],"corresponding_institution_ids":["https://openalex.org/I147765834"],"apc_list":null,"apc_paid":null,"fwci":0.1876,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49539234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"76","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8087798357009888},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7848882675170898},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7183507680892944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6500030755996704},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6121127009391785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.496437132358551},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.45162975788116455},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4246237874031067},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.40312641859054565},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3676673173904419},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3667091131210327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2585688829421997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20244982838630676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13300511240959167},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12410247325897217}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8087798357009888},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7848882675170898},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7183507680892944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6500030755996704},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6121127009391785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.496437132358551},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.45162975788116455},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4246237874031067},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.40312641859054565},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3676673173904419},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3667091131210327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2585688829421997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20244982838630676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13300511240959167},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12410247325897217},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icstcc59206.2023.10308490","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icstcc59206.2023.10308490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.leuphana.de:openaire_cris_publications/d214cdc8-dd3b-4449-9734-2058e37526e5","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85179518358&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400489","display_name":"Multilingual Matters (Channel View Publications)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"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. 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","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.leuphana.de:publications/d214cdc8-dd3b-4449-9734-2058e37526e5","is_oa":false,"landing_page_url":"http://fox.leuphana.de/portal/de/publications/control-of-a-threeaxis-robot-with-super-twisting-sliding-mode-control(d214cdc8-dd3b-4449-9734-2058e37526e5).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400489","display_name":"Multilingual Matters (Channel View Publications)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"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. 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","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W2018851823","https://openalex.org/W2065043747","https://openalex.org/W2144556291","https://openalex.org/W2185433241","https://openalex.org/W2766266183","https://openalex.org/W2903635973","https://openalex.org/W3034695719","https://openalex.org/W3116546854","https://openalex.org/W3152808938","https://openalex.org/W4224315933","https://openalex.org/W4283700797","https://openalex.org/W4312395770","https://openalex.org/W4313012923","https://openalex.org/W4318811839","https://openalex.org/W4364856146"],"related_works":["https://openalex.org/W2786766270","https://openalex.org/W2117379282","https://openalex.org/W2534107666","https://openalex.org/W2123479323","https://openalex.org/W1973429430","https://openalex.org/W2354493725","https://openalex.org/W1989996768","https://openalex.org/W2117933783","https://openalex.org/W2560479139","https://openalex.org/W4282930489"],"abstract_inverted_index":{"This":[0],"paper":[1],"shows":[2],"the":[3,28,39,42,48,54,57,63,66],"Lagrangian-based":[4],"modelling":[5],"of":[6,19,41,47,56,65],"a":[7,13,17,81],"fully":[8],"actuated":[9],"three-axis":[10],"robot":[11,29],"and":[12,34],"control":[14,49],"application":[15],"using":[16],"variant":[18],"Super":[20],"Twisting":[21],"Sliding":[22],"Mode":[23],"Control":[24],"(STSMC)":[25],"in":[26,73],"which":[27,74],"is":[30,51,68],"subject":[31],"to":[32,37,85],"disturbances":[33,76],"model":[35,82],"uncertainties":[36],"demonstrate":[38],"robustness":[40,64],"proposed":[43],"method.":[44,60],"The":[45],"stability":[46],"system":[50],"proven":[52],"with":[53,80],"help":[55],"direct":[58],"Lyapunov":[59],"In":[61],"particular,":[62],"results":[67],"validated":[69],"through":[70],"computer":[71],"simulations":[72],"impulsive":[75],"are":[77],"simulated":[78],"together":[79],"mismatch":[83],"due":[84],"an":[86],"uncompensated":[87],"mechanical":[88],"friction.":[89]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}