Sliding mode control for underactuated slosh-container system using collocated and non-collocated linearization

This work mainly deals with the sliding mode control for the sloshing liquid in a container using Collocated and Non-Collocated linearization techniques. The comparative study of these techniques is done for the first time for a slosh-container system, which represents a class of underactuated systems. A linear sliding surface based sliding mode control is derived for both the approaches which rejects the matched uncertainties or model mismatches and disturbances. Some remarkable comparative points are noted and highlighted with the supporting simulations.