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This paper proposes multivariable integral sliding mode controller for any Multi Input Multi Output (MIMO) system. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control such that the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering. In this paper...
This paper investigates a problem of control of rotary slosh using integral sliding modes (ISM). Slosh coupled with vehicle dynamics represents a class of systems having coupled nonlinear and underactuated dynamics. Rotary slosh is modeled using spherical pendulum. The coordinates are chosen to avoid the singularity at equilibrium point. A stabilizing control is designed using Lyapunov approach. A...
This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain system. Integral sliding mode is further added to ensure robust reaching phase. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative...
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