Title: Sliding mode control for slosh-free motion-A class of underactuated system

Authors: B. Bandyopadhyay, Shailaja Kurode, P.S. Gandhi

Addresses: IDP in Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, 400076, India. ' IDP in Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, 400076, India. ' Department of Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, 400076, India

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.

Keywords: slosh-free motion; underactuated systems; sliding mode control; sliding surfaces; pendulum models; simulation; slosh dynamics; liquid sloshing.

DOI: 10.1504/IJAMECHS.2009.023203

International Journal of Advanced Mechatronic Systems, 2009 Vol.1 No.3, pp.203 - 213

Published online: 13 Feb 2009 *

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