Fully Adaptive Semi-active Control of Vibration Isolation by MR Damper

Authors:	Terasawa Takashi, Keio University, Japan Sano Akira, Keio University, Japan
Topic:	1.2 Adaptive and Learning Systems
Session:	Learning and Adaptive Control of Mechanical Structures
Keywords:	Adaptive control. Semi-active control. MR damper. Adaptive identification. Nonlinear mechanical system. Vibration isolation.

Abstract

This paper is concerned with a new fully adaptive control scheme for vibration isolation using a semi-active MR damper installed between ground and first floor, which is composed of two adaptive controllers. One is an adaptive inverse controller which can give necessary input voltage to MR damper so as to generate specified reference damping force to be acted on a controlled structure. The input voltage is decided using a nonlinear adaptive observer with identified model parameters of the MR damper which expresses hysteresis behavior of nonlinear dynamic friction mechanism of the MR fluid. The other is an adaptive reference controller which can match the dynamics of the first floor of structure to a reference dynamics. The proposed fully adaptive approach can cope with uncertainties in both models of MR damper and structure. Theoretical analysis and experimental results are also shown.