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

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4 Author(s)
Kurode, S. ; Dept. of Electr. Eng., Coll. of Eng., Pune, India ; Spurgeon, S.K. ; Bandyopadhyay, B. ; Gandhi, P.S.

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.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:18 ,  Issue: 2 )

Date of Publication:

April 2013

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