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

作     者：Khanh Nguyen Viet Minh Do Duc Thanh Cao Duc Tung Lam Nguyen 

作者机构：School of Electrical and Electronic EngineeringHanoi University of Science and TechnologyHanoiVietnam Vietnam Maritime UniversityHaiphongVietnam 

出 版 物：《IET Cyber-Systems and Robotics》 (智能系统与机器人（英文）)

年 卷 期：2024年第6卷第3期

页      面：31-48页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Hanoi University of Science and Technology Grant/Award Number:T2023‐TĐ‐002 

主　　题：control dynamic model motion planning 

摘      要：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 ***,this research presents an equivalent discrete model based on a mass‐spring‐damper ***,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 *** addition,to ensure system performance,a linear extended state observer(LESO)is integrated to cope with system ***,the efficiency of the proposed approach for liquid sloshing suppression and tracking is illustrated by simulations.