A robust control approach for suppression of container-slosh using output-feedback based on super-twisting algorithm

Abstract

Slosh phenomena are being encountered in various fields leading to performance deterioration. The major challenges in slosh control are due to underactuated nature. Moreover, it is very difficult to measure the slosh angle, which poses additional challenge. In this paper, a control approach for container-slosh system is discussed using output-feedback. To make the controller robust and practically implementable higher order sliding mode (HOSM) scheme is used. Surface is a linear combination of displacement and velocity of the container. Control is developed using second-order sliding modes (SOSM) based on super-twisting algorithm. Closed-loop stability has been verified mathematically using Lyapunov approach. Finally, the performance of the controller is validated in simulations.

Modeling and adaptive robust wavelet control for a liquid container system under slosh and uncertainty

“…These methods include PI/PID control, [8][9][10][11] H-infinity control, 12 sliding mode control, [13][14][15] predictive controller, 16 active force control, 17 genetic algorithm, 18 control the robot end-effector movement by using Lyapunov-based feedback controllers 19 and variable gain by using super-twisting algorithm. 20 There also exist a passive control methods which tried to smooth the liquid's sloshing without direct measurements of the sloshing state such as intermittent air-bubble injection method, 21 inverse dynamic control technique by generating a computer model to estimate the modes of oscillation of the liquid in the container system, 22 guidance, navigation, and control (GNC) algorithm commands thruster firings to counter the fluid slosh forces 21 and a shallow-depth sloshing absorber. 23 Apart from the above reviewed control methods, it is noticed that the solutions for the problem of the liquid slosh produced by many researches had been suffered from the following problems:…”

“…These methods include PI/PID control, 8–11 H-infinity control, 12 sliding mode control, 13–15 predictive controller, 16 active force control, 17 genetic algorithm, 18 control the robot end-effector movement by using Lyapunov-based feedback controllers 19 and variable gain by using super-twisting algorithm. 20…”