Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

This paper proposes a damping control of sloshing in a cylindrical container on a wheeled mobile robot. The container can be independently tilted in the running direction and the orthogonal direction by a dual swing-type active vibration reducer. The mobile robot runs along a curved path on a slope. Sloshing generated by the action of the mobile robot is damped using the vibration reducer. In addition, the vibration reducer can make the container level on the slope. The control system of the vibration reducer is an optimal servo controller with a Kalman filter. The usefulness of proposed damping control system is demonstrated through experiments.