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

Kurode, Shailaja, Spurgeon, Sarah K., Bandyopadhyay, Bijan, Gandhi, P.S. (2013) Sliding Mode Control for Slosh-Free Motion using a Nonlinear Sliding Surface. IEEE/ASME Transactions on Mechatronics, 18 (2). pp. 714-724. ISSN 1083-4435. (doi:10.1109/TMECH.2011.2182056) (KAR id:32148)

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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.

Item Type: Article
DOI/Identification number: 10.1109/TMECH.2011.2182056
Uncontrolled keywords: Nonlinear sliding surface , sliding mode control , slosh
Subjects: T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: J. Harries
Date Deposited: 12 Nov 2012 15:08 UTC
Last Modified: 16 Nov 2021 10:09 UTC
Resource URI: (The current URI for this page, for reference purposes)
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