Kurode, Shailaja ; Trivedi, Prasiddh ; Bandyopadhyay, B. ; Gandhi, P. S. (2012) Second order sliding mode control for a class of underactuated systems In: 2012 12th International Workshop on Variable Structure Systems, 12-14 Jan. 2012, Mumbai, India.
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Official URL: http://doi.org/10.1109/VSS.2012.6163545
Related URL: http://dx.doi.org/10.1109/VSS.2012.6163545
Abstract
This paper presents a second order sliding mode control for a class of underactuated systems. Container motion coupled with slosh which represents a class of underactuated systems is sought. A stable sliding surface is designed to ensure asymptotic convergence of all the states. A second order twisting algorithm is used to synthesize a smooth control to ensure finite time convergence of the sliding. The proposed method is validated in simulation.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Source: | Copyright of this article belongs to Institute of Electrical and Electronics Engineers. |
| ID Code: | 115989 |
| Deposited On: | 18 Mar 2021 08:22 |
| Last Modified: | 18 Mar 2021 08:22 |
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