Work

Anti‐sloshing control: Flatness‐based trajectory planning and tracking control with an integrated extended state observer

Year: 2024

Type: article

Abstract: The phenomenon of sloshing causes a significantly negative impact on a wide range of industries. A time‐optimal flatness‐based trajectory planning and Lyapunov‐based model predictive control (LMPC) is proposed for trajectory tracking of a transmitting cylindrical container filled with liquid. Firstly, this research presents an equivalent discrete model based on a mass‐spring‐damper system. Subsequently, after the flatness of the adopted non‐linear model for 2D is established, time‐optimal trajectories are introduced. A control method called LMPC is shown to solve the problem of orbital tracking, which allows setting limits for state variables. In addition, to ensure system performance, a linear extended state observer (LESO) is integrated to cope with system uncertainties. Finally, the efficiency of the proposed approach for liquid sloshing suppression and tracking is illustrated by simulations.

Source: IET Cyber-Systems and Robotics

DOI: 10.1049/csy2.12121

Authors: Khanh Nguyen Viet, Minh Do Duc, Thanh Cao Duc, Tung Lam Nguyen

Institutions: Trường Đại học Khoa học và Công nghệ Hà Nội, Hanoi University of Science and Technology, Vietnam Maritime University

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Trường Đại học Bách Khoa Hà Nội

Award: G2072565437