DOI: 10.1109/iccas.2013.6704018
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Jaime Rubio Hervas, Mahmut Reyhanoglu

Abstract: This paper studies the problem of observer-based control of slosh in liquid container transfer via a PPR robot. The control inputs for the PPR robot are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is point-to-point transfer of an open liquid container while suppressing the sloshing modes. A full-state feedback that uses a reduced-order observer for the estimation of the slosh state is proposed to achieve the objective. The effectiveness o…

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