Dancing with the Slosh: A Comparative Symphony of Control in Liquid Haulage

Abstract

Mohammad Yaghoub Abdollahzadeh Jamalabadi

Liquid sloshing in partially filled tanker vehicles generates large destabilizing roll moments, compromising road safety. Although numerous active control methods exist, systematic comparisons under a common nonlinear sloshing framework are lacking. This paper implements and benchmarks twelve control strategies—Sliding Mode Control (SMC), PID, LQR, Backstepping, Adaptive SMC, Fuzzy Logic, ADRC, MPC, Super-Twisting, Terminal SMC, H-infinity, and Neural Network—on a nonlinear roll- plane model with two equivalent sloshing modes. Controllers are evaluated over a 10�?�second post�?�maneuver horizon using six quantitative indices: ISE, IAE, ITAE, percentage overshoot, settling time, and steady�?�state error. Results show that second�?�order sliding mode methods (Super�?�Twisting, Terminal SMC) achieve the best combined accuracy and speed, while Active Disturbance Rejection Control (ADRC) yields the lowest ITAE, reflecting superior long�?�term disturbance rejection. A qualitative attribute matrix covering robustness, complexity, and model�?�dependency is provided to guide practitioner selection. The study offers concrete design recommendations for active anti�?�roll systems in liquid cargo vehicles.

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