Abstract
This paper presents slosh control within a container which represents an underactuated system. The dynamics of the system is highly coupled and non-linear. The major difficulty is in slosh state measurement. Hence an Output-feedback control is proposed. The non-linear sliding surface is a function of only measurable output variables. A robust exact Levant differentiator is designed for estimating the container velocity. Control is synthesized using Second Order Sliding Modes (SOSM) based on super-twisting algorithm and hence smooth. While formulating the control lateral slosh model is considered with first mode only. Stability of system is analyzed. Finally the proposed method is validated in simulations.
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