Abstract
The robust performance of a control design scheme for sloshing suppression and container positioning during liquid transfer using robotic manipulators is studied with respect to parametric uncertainty. The control scheme combines a partial inverse dynamics controller with a heuristically tuned PID controller. Robustness is studied with respect to uncertainties on the parameters of the liquid, namely the liquid’ s density and viscosity, as well as the liquid’ s level within the tank. The range of uncertainties that can be well tolerated without critical deterioration of the closed-loop performance is determined using simulation results. Moreover, an enhancement of the control design scheme is proposed that improves robustness.
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Tzamtzi, M.P., Koumboulis, F.N. (2008). Robustness Of A Robot Control Scheme For Liquid Transfer. In: Sobh, T., Elleithy, K., Mahmood, A., Karim, M.A. (eds) Novel Algorithms and Techniques In Telecommunications, Automation and Industrial Electronics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8737-0_28
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DOI: https://doi.org/10.1007/978-1-4020-8737-0_28
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