Robotically Controlled Sloshing Suppression in Point-to-Point Liquid Container TransferJournal of Vibration and Control (2013)
"This paper studies the sloshing suppression problem in point-to-point liquid container transfer via a Prismatic–Prismatic–Revolute robot. A multi-mass–spring model is introduced for the characterization of the most prominent liquid-sloshing modes. The control inputs are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is to control the robot end-effector movement while suppressing the sloshing modes. A nonlinear mathematical model that reflects all of these specifications is first derived. Then, a Lyapunov-based nonlinear feedback controller is designed to achieve the control objective. Finally, a simulation example is included to demonstrate the effectiveness of the controller."--From publisher's website.
- Sloshing suppression problem,
- liquid-sloshing modes
Publication DateOctober, 2013
Citation InformationMahmut Reyhanoglu and Jaime Rubio Hervas. "Robotically Controlled Sloshing Suppression in Point-to-Point Liquid Container Transfer" Journal of Vibration and Control Vol. 19 Iss. 14 (2013) p. 2137 - 2144 ISSN: 1077-5463
Available at: http://works.bepress.com/mahmut_reyhanoglu/19/