Adaptive robotic control up to three degrees of freedom for controlling seismic vibrations of structures

This paper presents the non-linear linear dynamic control of structure, which is subjected to strong earthquake shaking, using an adaptive robotic controller or AR-1 damper3. This AR damper incorporates the feature of adaptive nonlinear control of nonlinear dynamics developed by seismic event and controlling signal thus generated is utilize for robotic control action. The robot with three degree of freedom feature4is proposed to control the in & out motion (roll movement), side to side motion (Yaw movement) and up & down motion (Pitch movement) of structure6. A bridge structure is considered with hybrid seismic isolation system for earthquake hazard mitigation investigated in this paper. The modified self-tuning regulator (STR) is proposed as an adaptive regulator for non-linear dynamic control6. The seismic simulation is carried out to test the performance of proposed method for Gadha Jabalpur 1997 (India) location out of five prominent seismic locations i.e. Jabalpur (India), Ahmedabad (India), San Fernando, (Pacoima Dam), Michoacan (Mexico city), Northridge (Sylmar). The seismic parameters i.e. deck displacement, bearing displacement, Pier drift ratio, base shear coefficient, deck acceleration and damper force are used for simulation and results are compared with the Non-isolated, passive, fuzzy control, Non-linear control methods11,12. The proposed adaptive robotic control method is found to be better in performance. The proposed method may prevent or significantly reduce structured damage during a seismic event. The authors have taken up the vibration-damping problem of structure due to strong earthquake. The development of an adaptive robotic system to control or damp the building vibration is proposed. Authors presented an adaptive controller design for a robot to sustain and filter seismic vibration, to the mechanical structure (bridge) on which it is mounted for this purpose.