Sliding mode control for slosh-free motion-A class of underactuated system
by B. Bandyopadhyay, Shailaja Kurode, P.S. Gandhi
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 1, No. 3, 2009

Abstract: Underactuated systems are the representative of a large class of systems. This paper presents a new method for the design of sliding surface for a class of second order underactuated system in which a virtual input is considered in unactuated subsystem. A sliding mode controller is proposed to ensure sliding along the sliding surface. A problem of slosh free-motion of a container is considered as representative of a typical class of underactuated system. A simple pendulum model is considered to represent the lateral slosh. Extensive simulation studies are conducted with the controller to demonstrate the proposed approach.

Online publication date: Fri, 13-Feb-2009

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