Bandyopadhyay, B. ; Kurode, Shailaja ; Gandhi, P.S. (2009) Sliding mode control for slosh-free motion-A class of underactuated system International Journal of Advanced Mechatronic Systems, 1 (3). p. 203. ISSN 1756-8412
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Official URL: http://doi.org/10.1504/IJAMechS.2009.023203
Related URL: http://dx.doi.org/10.1504/IJAMechS.2009.023203
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.
| Item Type: | Article |
|---|---|
| Source: | Copyright of this article belongs to Inderscience Publishers. |
| ID Code: | 115395 |
| Deposited On: | 17 Mar 2021 07:29 |
| Last Modified: | 17 Mar 2021 07:29 |
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