Title :
Discrete sliding mode control for a class of underactuated systems
Author :
Kurode, Shailaja ; Bandyopadhyaya, B. ; Gandhi, P.S.
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;
Conference_Titel :
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-61284-969-0
DOI :
10.1109/IECON.2011.6119952
