DocumentCode
3478440
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
fYear
2012
fDate
12-14 Jan. 2012
Firstpage
458
Lastpage
462
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Variable Structure Systems (VSS), 2012 12th International Workshop on
Conference_Location
Mumbai, Maharashtra
ISSN
2158-3978
Print_ISBN
978-1-4577-2066-6
Electronic_ISBN
2158-3978
Type
conf
DOI
10.1109/VSS.2012.6163545
Filename
6163545
Link To Document