This paper proposes a flatness-based trajectory planning and tracking control method with an integrated extended state observer to suppress liquid sloshing.

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Control Strategy for Liquid Transfer Using a Four-wheel Mecanum Mobile Robot Platform

Authors: Nguyen Viet Khanh, Hue Luu Thi, Duc Thanh Cao, Nguyen Tung Lam, Duc Minh Do, Vo Thanh Ha

Published in The 9th International Conference on Applying New Technology in Green Buildings (ATiGB), 2024

This paper proposes a control strategy for liquid transfer on a Mecanum-wheeled mobile robot platform, addressing motion stability and sloshing reduction.

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The Non-Flatness Property of the Liquid Sloshing System and an Approximate Approach

Authors: Nguyen Viet Khanh, Hue Luu Thi, Duc Thanh Cao, Dang Huu Bang, Nguyen Tung Lam

Published in 2024 International Conference on Advanced Technologies for Communications (ATC), 2024

This paper analyzes the non-flatness property of liquid sloshing dynamics and proposes an approximate approach for control and trajectory planning.

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Time-optimal motion planning and anti-sloshing control for a container under disturbances

Authors: Nguyen Viet Khanh, Hue Luu Thi, Thanh Cao Duc, Nguyen Danh Huy, Vu Minh Nhat, Nguyen Tung Lam

Published in IEEE Access (SCIE Q2), 2025

This paper presents a time-optimal motion planning and anti-sloshing control strategy for containers under external disturbances.

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Input Shaping Integrated With Lyapunov Based Model Predictive Control for Anti-Sloshing Problem

Authors: Nguyen Viet Khanh, Hue Luu Thi, Minh Do Duc, Thanh Cao Duc, Nguyen Danh Huy, Nguyen Tung Lam

Published in 3rd International Conference on Advances in Information and Communication Technology (ICAICT, Scopus Q4), 2025

This paper presents an anti-sloshing control strategy by integrating input shaping with Lyapunov-based model predictive control.

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