Modeling and adaptive robust wavelet control for a liquid container system under slosh and uncertainty

Liquid sloshing in moving or stationary containers and flexible uncertainty caused by the slosh are considered to be the most probable causing unexpected coupling effects on the dynamics of many systems such as aerospace, ground vehicles, and high speed industries arms. The coupling of dynamic liquid slosh in a container system with the uncertainty caused by the sensors or dampers is rare documented and this coupling can be considered as a highly nonlinear system. In this paper, an investigation is presented to demonstrate a new approach for enabling the reduction of the liquid slosh and uncertainty by implementing adaptive robust wavelet control technique. Starting by creating the mathematical dynamic model for the nonlinear slosh coupled by uncertainty, adaptive robust control based wavelet transform is applied for calculating optimal motion that minimize residual slosh and uncertainty. Subsequently the adaptive robust control based wavelet network approximation and the appropriate parameter algorithms for the container system with slosh and uncertainty are derived to achieve the feedback linearization, adaptive control, and H∞ tracking performance. The simulation results show that the effects of slosh errors and external uncertainty can be successfully attenuated within a desired attenuation level.