Tracking control to moving object of liquid container transfer with vibration damping

This paper is concerned with the advanced control of a transfer system with a vibration mechanism, and gives special consideration to both tracks to a moving object and damping vibration. The system is constructed with two-degrees-of-freedom control in order to track the moving object. Furthermore, in order to construct a transfer system for fast tracking and vibration damping, the controller is designed using a hybrid shape approach that considers both time and frequency characteristics. The effectiveness of the proposed control system is shown through experiments in liquid container transfer.