Robust liquid container transfer control for complete sloshing suppression

This paper is concerned with the advanced control of liquid container trans fer, with special consideration given to the suppression of sloshing (liqui d vibration) while maintaining a high speed of transfer for the container. In order to construct a highspeed transfer system for a liquid container th at satisfies the reduction of endpoint residual vibration and has a robustn ess to change in the static liquid level, a suitable nominal model was adop ted and an appropriate reference trajectory was determined by the optimizat ion method of Fletcher and Reeves, Based on the above command inputs and us ing a suitable nominal model, an H-infinity feedback control system was app lied to this process, and its effectiveness is shown through simulations an d experiments. Furthermore, an active control method that takes into accoun t the rotational motion of the container in addition to the linear transfer motion is presented, which can achieve complete suppression of sloshing du ring the whole transfer process.