Sliding Mode Observer Based Sliding Mode Controller for Slosh-Free Motion Through PID Scheme

Abstract

Abstract-This paper presents a new approach to design a sliding mode controller for a class of mismatched uncertain systems. A method is proposed for the design of a switching surface in the presence of mismatched uncertainties. A design method for a sliding mode observer based on high gain is also proposed in this paper to reconstruct the states of the system for the implementation of sliding mode control. The design technique is simple and computationally efficient. A control problem for the slosh-free motion of a container is considered as the representative of a typical class of systems. A simple pendulum model is considered to represent the lateral slosh. The validity of the proposed scheme is demonstrated by simulation along with the experimental results.Index Terms-Sliding mode control (SMC), sliding mode observer (SMO), slosh.

Tyre–road grip coefficient assessment – Part II: online estimation using instrumented vehicle, extended Kalman filter, and neural network

“…Initial estimates for and State observation has become a usual control technique applied to a wide range of systems, including mechatronics, [43][44][45][46] where any kind of state observer, such as the Kalman filter, [47,48] extended Kalman filter (EKF), [49][50][51] unscented Kalman filter, [52,53] sliding mode observer, [54] Luenberger observer, [55,56] or others, [57][58][59][60] is used to obtain the value of one or more variables which cannot be easily measured. All the state observers are developed to be applied to the mathematical model of the system, like in terms of state-space formulation, [48] nonlinear discrete-time equations, [43] or differential equations.…”

Discrete sliding mode control for a class of underactuated systems

“…Ackerman and Ozguner [12] considered back-stepping technique to deal with the unmatched uncertainties while designing controller for slosh. Robust surface leading to a simple control as discussed in [13], is considered. The control is synthesized using a reaching law.…”

“…Again the same analysis of choosing c 1 > 0 and c 3 < 0 is applicable as discussed in [13] while developing the novel sliding surface. Also similar stability analysis remains valid.…”

Observer-based nonlinear control of slosh in liquid container transfer via a PPR robot

“…The control methods that require either sensor measurements [10,11] or observer estimates of the slosh states [3] have recently received an increased attention. In most of these works, a single pendulum model [6] or a single mass-spring model [21] is included in the dynamics formulation to represent the first fluid slosh mode.…”