Discrete Output Feedback Control of a Class of Underactuated Systems using Sliding Modes
نویسنده
چکیده
This paper presents a discrete sliding mode observer (DSMO) for state estimation of a class of a second order underactuated system. The estimated states are used to implement the discrete sliding mode control (DSMC). Modified Bartoszewicz’s reaching law is used to synthesize a DSMC. A partially filled liquid container motion coupled with liquid slosh constitutes a class of second order underactuated systems. A fundamental mode of lateral slosh is considered. The sloshing liquid is modeled by a simple pendulum. The effectiveness of the method is demonstrated in simulation.
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