Fully adaptive vibration control for uncertain structure installed with MR damper

This paper is concerned with a new fully adaptive control scheme for vibration isolation using a semi-active MR damper. A simple mathematical model is presented to express its hysteresis behavior of nonlinear dynamic friction mechanism of the MR fluid. The model parameters are identified by using an adaptive observer, and the identified model is effectively used to synthesize an adaptive inverse controller to attain linearization of the nonlinear behavior of the MR damper, which generates the necessary voltage input to the MR damper so that the desirable damping force can be added to the structure. The desired damping force can also be designed so that the behavior of the structure may coincide with a desired reference dynamics even when the structure model involves uncertain parameters. Hence the proposed fully adaptive algorithm can deal with the uncertainty in the MR model as well as the uncertainty of the structure. Simulation results validate the proposed fully adaptive control algorithm.