Abstract
Abstract The present paper is concerned with advanced control of liquid container transfer paying special attention to high speed transfer and the suppression of sloshing. In order to construct a liquid container transfer system which satisfied requirements for a robustness for the change of liquid level and a reduction in residual vibration, a nominal model was suitably decided and a reference trajectory was reasonably determined by an optimization method. Furthermore, an active control method was presented by adding a rotational motion to suppress excessive sloshing during acceleration or deceleration of the container transfer.
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