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 

机构地区：[1]School of Electrical and Electronic Engineering,Hanoi University of Science and Technology,Hanoi,Vietnam [2]Vietnam Maritime University,Haiphong,Vietnam

出　　处：《IET Cyber-Systems and Robotics》2024年第3期31-48,共18页智能系统与机器人（英文）

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

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 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.

关 键 词：CONTROL dynamic model motion planning 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP24[自动化与计算机技术—控制科学与工程]