Sliding Mode Observer Based Sliding Mode Controller for Slosh-Free Motion Through PID Scheme
Bandyopadhyay, B.
Gandhi, P.S.
Kurode, S.
Interdiscipl. Programme in Syst. & Control Eng., Indian Inst. of Technol. Bombay, Mumbai, India;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Sept. 2009
Volume: 56,
Issue: 9
On page(s): 3432-3442
ISSN: 0278-0046
INSPEC Accession Number: 10890313
Digital Object Identifier: 10.1109/TIE.2009.2026380
First Published: 2009-07-07
Current Version Published: 2009-08-11
Abstract
This paper presents a new approach to design a sliding mode controller for a class of mismatched uncertain systems. A method is proposed for the design of a switching surface in the presence of mismatched uncertainties. A design method for a sliding mode observer based on high gain is also proposed in this paper to reconstruct the states of the system for the implementation of sliding mode control. The design technique is simple and computationally efficient. A control problem for the slosh-free motion of a container is considered as the representative of a typical class of systems. A simple pendulum model is considered to represent the lateral slosh. The validity of the proposed scheme is demonstrated by simulation along with the experimental results.
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