Thakar, Parth S. ; Bandyopadhyay, B. ; Gandhi, P. S. ; Kurode, Shailaja (2012) Robust control of rotary slosh using integral sliding modes 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.2012.6163542
Related URL: http://dx.doi.org/10.1109/VSS.2012.6163542
Abstract
This paper investigates a problem of control of rotary slosh using integral sliding modes (ISM). Slosh coupled with vehicle dynamics represents a class of systems having coupled nonlinear and underactuated dynamics. Rotary slosh is modeled using spherical pendulum. The coordinates are chosen to avoid the singularity at equilibrium point. A stabilizing control is designed using Lyapunov approach. A stabilizing controller (SC) is made robust by adding ISM component. The integral sliding mode control (ISMC) yields robust performance over the entire state space. The effectiveness of the method is validated in simulations.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Source: | Copyright of this article belongs to Institute of Electrical and Electronics Engineers. |
| Keywords: | Rotary Slosh; Spherical Pendulum; Underactuated System; Stabilizing Control; Integral Sliding Mode. |
| ID Code: | 115991 |
| Deposited On: | 18 Mar 2021 08:28 |
| Last Modified: | 18 Mar 2021 08:28 |
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