Motion Control of Open Containers with Slosh Constraints
نویسندگان
چکیده
Movement of open containers containing liquid is considered. A simple linear slosh model is presented that captures the main features of the slosh phenomena. The open-loop acceleration trajectory is calculated using optimal control techniques. Both minimum-time and minimum-energy problems are solved with various constraints on the control and state trajectories. The calculated acceleration profiles are evaluated using experiments showing better performance than previous controllers. Copyright c 1999 IFAC
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