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. © 2012 IEEE.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

S. Kurode

P. Trivedi

P.S. Gandhi

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Journal	Proceedings of IEEE International Workshop on Variable Structure Systems
ISSN	21654816