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Second order sliding mode control for a class of underactuated systems

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4 Author(s)
Shailaja Kurode ; Faculty of Electrical Engineering, College of Engineering Pune. India ; Prasiddh Trivedi ; B. Bandyopadhyay ; P. S. Gandhi

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.

Published in:

Variable Structure Systems (VSS), 2012 12th International Workshop on

Date of Conference:

12-14 Jan. 2012