Title: Sliding mode control for an underactuated slosh-container system using non-linear model

Authors: Parth S. Thakar; B. Bandyopadhyay; 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: This work mainly deals with the sliding mode control for non-linear model of sloshing liquid in a container. Slosh coupled with container dynamics represents a class of underactuated systems with coupled non-linear equations. A pendulum model is used to model the lateral slosh. A linear sliding surface-based sliding mode control is derived. The reduced order system equation during sliding mode becomes non-linear when the non-linear system is constrained to the linear surface. Here a new method is proposed for the stability analysis of the reduced order non-linear system using Lyapunov stability theory. Simulations are carried out to validate the method. Experimental work is carried out to implement the designed sliding mode control strategy on the slosh-container system and corresponding results are also reported.

Keywords: sliding mode control; SMC; underactuated systems; slosh container systems; nonlinear modelling; pendulum models; lateral slosh; stability analysis; Lyapunov stability theory; simulation; experiments; mechatronic systems; sloshing liquids; container dynamics.

DOI: 10.1504/IJAMECHS.2013.059794

International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.5, pp.335 - 344

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 12 Mar 2014 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article