Title :
Second order sliding mode control for a class of underactuated systems
Author :
Kurode, Shailaja ; Trivedi, Prasiddh ; Bandyopadhyay, B. ; Gandhi, P.S.
Author_Institution :
Fac. of Electr. Eng., Coll. of Eng., Pune, India
Abstract :
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.
Keywords :
control system synthesis; motion control; sloshing; stability; variable structure systems; container motion; second order sliding mode control; second order twisting algorithm; sliding finite time convergence; sliding surface stability; slosh; smooth control synthesis; state asymptotic convergence; underactuated systems; Algorithm design and analysis; Conferences; Containers; Heuristic algorithms; Sliding mode control; Variable structure systems;
Conference_Titel :
Variable Structure Systems (VSS), 2012 12th International Workshop on
Conference_Location :
Mumbai, Maharashtra
Print_ISBN :
978-1-4577-2066-6
Electronic_ISBN :
2158-3978
DOI :
10.1109/VSS.2012.6163545
