Liquid container transfer control on 3D transfer path by hybrid shaped approach

The paper is concerned with the advanced control of liquid container transfer, with special consideration given to the transfer on the three dimensional (3D) transfer path as well as the suppression of sloshing (liquid vibration) while maintaining a high speed of transfer for the container. The controller is designed by the hybrid shaped approach considering both time and frequency characteristics, in order to construct a high-speed transfer system for a liquid container which satisfies various control specifications such as the sloshing suppression, overshoot, settling time and restriction of control input´s magnitude. The effectiveness of the proposed control system is shown through experiments