Implementation of model free fuzzy control on a novel magnetorheological elastomer-based handle for a rotary hammer

This study presents a novel application of a Magnetorheological Elastomer-based handle (MREH) designed to improve the user's comfort, specifically by reducing hand-arm vibrations. Various control logics were used on the MREH system attached to a rotary hammer to fully utilize the ability to adapt to various operating conditions, and each logic's performance was evaluated. On/Off, PID, and fuzzy methods have been implemented in real-time. A case-based control logic where the frequency of the rotary hammer is given as an input to the control logic is developed to reduce the decision time as the events occur at a higher rate for on/off and fuzzy. PID gains are obtained directly from the experimental setup through PID autotuning. The performance of these logics is evaluated by performing a drilling operation on a M45 concrete block. Further, the fuzzy logic is investigated by operating at different locations on the same block. Based on the present research, fuzzy logic has demonstrated superior performance in aligning with the system by exhibiting a maximum 3 Hz increase from the natural frequency