Walsh基底に基づく非平面スロッシング視覚制御実験（ポート・ハミルトン系のアプローチ）

抄録

This short paper presents a visual feedback experiment for non-planar sloshing without any geometrical feature extraction. First, we construct a dynamical model by applying Walsh basis approach. Second, we design a feedback controller by applying a port-Hamiltonian approach instead of the standard LQG approach. Finally, we confirm the validity of the model and controller by the non-planar feedback control experiment.