Khanh Nguyen Viet, Minh Do Duc, Thanh Cao Duc, Tung Lam Nguyen
{"title":"Anti-sloshing control: Flatness-based trajectory planning and tracking control with an integrated extended state observer","authors":"Khanh Nguyen Viet, Minh Do Duc, Thanh Cao Duc, Tung Lam Nguyen","doi":"10.1049/csy2.12121","DOIUrl":null,"url":null,"abstract":"<p>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.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12121","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Cybersystems and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/csy2.12121","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
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.