Optimal trajectory planning for anti-sloshing motion control

The phenomenon of sloshing, i.e., the oscillation of liquids inside partially filled containers during motion, represents a significant challenge in transportation and process engineering. This paper addresses the design of an optimized motion law to reduce unwanted liquid oscillations in automated liquid handling processes. A constrained optimization problem based on a linearized sloshing model is designed with the aim of minimizing liquid oscillation both during movement and in the subsequent resting phase. To experimentally validate the proposed method, a dedicated experimental setup is designed, including a controlled motion system and a visual tracking system. Experimental tests confirm the reliability of the optimized motion law.