Abstract
This paper presents the modeling and control of transfer of a cylindrical liquid container along a curved path. Sloshing of (1, 1)-mode in the container is represented by a mechanical model using a spherical pendulum or a dual pendulum composed of two simple pendulums. An optimal control method for the liquid container transfer is determined through simulations and experiments using an optimal servo control system with a Kalman filter. Using this method, the optimal transfer control of the liquid container is obtained for practical performance specifications. The optimal control gain along a curved path has been obtained and is different from the control gain along a straight path. The usefulness of the present work has been demonstrated through the control simulation and laboratory control experiments.
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