Methods and systems for controlling multi-body vehicles with fuel slosh
are provided. In a method for stabilizing a vehicle with fuel slosh, a
controller for a multi-body assembly is formed by selecting vehicle
configuration and velocity as states of a rigid body. Equations of motion
are written for the multi-body assembly, and velocity states are
determined that are unactuated. A decoupling transformation is defined
from the unactuated velocity states. The equations of motion are
transformed using the decoupling transformation such that unactuated
states are decoupled from actuated states. A slosh state estimator is
coupled to the controller such that it is in operative communication with
an input to the controller and an output from the controller.