Sliding mode control for an underactuated slosh-container system using non-linear model
by Parth S. Thakar; B. Bandyopadhyay; P.S. Gandhi
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 5, No. 5, 2013

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.

Online publication date: Sat, 12-Jul-2014

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