Robust liquid container transfer control for complete sloshing suppression

Energy control for complex pendulums based on tracking of online computed force trajectories

“…As discussed in Sec. III-A the desired oscillation is approximated by a simple pendulum oscillation with equal parameters as in (5). The desired oscillation can be described by its phase ϕ di and its amplitude θ di V .…”

“…The theoretical background of simple pendulums, especially its nonlinear frequency characteristic, is well investigated, exemplary in [1]. Simple pendulums have been successfully used to describe various complex mechanisms like robotic walking [2], [3], dance partners [4] or fluid in containers [5]. A further example is a two link robot brachiating with pendulum-like dynamics [6].…”

A Unified Approach to Robust Control of Flexible Mechanical Systems Using H-Infinity Control Powered by PD Control

“…So far, a lot of research efforts have been devoted to solve control problems of such flexible systems, one of the most typical problems among which is the problem of flexible robotic manipulators, e.g., [Sharon & Hardt (1984); Spong (1987); Wang & Vidyasagar (1990); Torres et al, (1994); Magee & Book (1995); Nenchev et al, (1996); Nenchev et al, (1997)]. As other types of applications, the problems of a crane system [Kang et al (1999)] and of a liquid container system [Yano & Terashima (2001); Yano et al, (2001)] have been investigated. The common control problem for flexible systems can be stated as "how to achieve required motion control with suppressing undesirable oscillation due to its flexibility".…”

“…[Ueda & Yoshikawa (2004)] has applied a mode-shape compensator based on acceleration feedback to a flexible-base manipulator. For a liquid container system, H ∞ control in [Yano & Terashima (2001)] and a notch-type filter based control, that is, equivalent to pole-zero cancellation, in [Yano et al, (2001)] are utilized respectively. In general, most other works have focused on individual systems and hence their control methods are not directly available for various flexible systems.…”

Sliding Mode Observer Based Sliding Mode Controller for Slosh-Free Motion Through PID Scheme

“…Grundelius and Bernhardsson [6], [7] proposed optimal control and iterative learning techniques to follow an optimal trajectory to minimize slosh in the packaging industry. Yano et al focused on the control of a liquid container transfer system in the casting and steel industry [8]- [10]. They used H ∞ control for following the trajectory, which was designed using optimization subjected to certain constraints.…”