DocumentCode
2881992
Title
Discrete sliding mode control for a class of underactuated systems
Author
Kurode, Shailaja ; Bandyopadhyaya, B. ; Gandhi, P.S.
fYear
2011
fDate
7-10 Nov. 2011
Firstpage
3936
Lastpage
3941
Abstract
This paper presents a new reaching law to design discrete sliding mode controller for a class of mismatched uncertain systems. A control problem for slosh free-motion of a container is sought. It represents a broader class of systems. A simple pendulum model is considered to represent the lateral slosh. Validity of the proposed scheme is demonstrated by simulation.
Keywords
control system synthesis; discrete systems; nonlinear control systems; uncertain systems; variable structure systems; container slosh free-motion; discrete sliding mode controller design; mismatched uncertain systems; pendulum model; reaching law; underactuated systems; Containers; Convergence; Equations; Robustness; Sliding mode control; Uncertainty; Discrete Sliding Mode Control; Reaching law; Slosh;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location
Melbourne, VIC
ISSN
1553-572X
Print_ISBN
978-1-61284-969-0
Type
conf
DOI
10.1109/IECON.2011.6119952
Filename
6119952
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