Adaptive semi-active vibration isolation considering uncertainties of MR damper and structure

A new fully adaptive control scheme is proposed 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 acted on a controlled structure. The other is an adaptive reference controller which can match the dynamics of the first floor of structure to a desired reference dynamics. The proposed fully adaptive approach can deal with both uncertainties in models of MR damper and structure. The stability of the total system including the two adaptation mechanisms is discussed and the stability conditions are clarified. Experimental results are also shown to validate the effectiveness of the proposed adaptive scheme.