Robust liquid container transfer control considering 3D transfer path

In this paper, a robust liquid container transfer system with a three-dimensional (3D) transfer path that suppresses sloshing without vibration feedback is developed. A controller is found that allows the container to be transferred as fast as possible while meeting the given control specifications. In the design, a design method for trajectory control with vibration damping, that satisfies various hybrid specifications in the frequency domain and time domain by using feedback of only the container´s position, is applied.