Tracking to moving object and sloshing suppression control using time varying filter gain in liquid container transfer

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.