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Sliding Mode Control for Slosh-Free Motion Using a Nonlinear Sliding Surface

DSpace at IIT Bombay

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Title Sliding Mode Control for Slosh-Free Motion Using a Nonlinear Sliding Surface
 
Creator KURODE, S
SPURGEON, SK
BANDYOPADHYAY, B
GANDHI, PS
 
Subject Nonlinear sliding surface
sliding mode control
slosh
2ND-ORDER UNDERACTUATED SYSTEMS
VARIABLE STRUCTURE SYSTEMS
LEARNING CONTROL
DESIGN
CONTAINER
 
Description A new nonlinear switching surface is proposed for the design of a sliding mode controller for a class of mismatched uncertain systems. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative of a broader class of systems to which the proposed methodology is applicable. A fundamental mode of lateral slosh is considered. A simple pendulum model is used to represent the lateral slosh. Given the difficulty of measuring the slosh states directly, a sliding mode observer is used for implementation of the resulting sliding mode control. The effectiveness of the theoretical developments is demonstrated via both simulation and experimental results.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2014-10-16T05:25:34Z
2014-10-16T05:25:34Z
2013
 
Type Article
 
Identifier IEEE-ASME TRANSACTIONS ON MECHATRONICS, 18(2)714-724
http://dx.doi.org/10.1109/TMECH.2011.2182056
http://dspace.library.iitb.ac.in/jspui/handle/100/15331
 
Language en