%0 Journal Article
	%A Maria P. Tzamtzi and  Fotis N. Koumboulis
	%D 2007
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 10, 2007
	%T Sloshing Control in Tilting Phases of the Pouring Process
	%U https://publications.waset.org/pdf/9248
	%V 10
	%X We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
	%P 3035 - 3042