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This paper is concerned with tracking to moving object and sloshing suppression control. The proposed system is constructed with 2-DOF control, in which the inverse model of motor is applied to feedforward control, and feedback controllers are designed by hybrid shape approach. Moreover, a prefilter with a time varying gain is presented to suppress the slosh. The effectiveness of the system is shown through experiments in liquid container transfer.
SICE 2003 Annual Conference (Volume:3 )
Date of Conference: 4-6 Aug. 2003