2008 Volume 1 Issue 1 Pages 26-32
The paper is concerned with a fully adaptive semi-active control scheme which can deal with uncertainties in both models of MR damper and suspension mechanism. The proposed approach consists of two adaptive control algorithms. The first is an adaptive inverse control for compensating the nonlinear hysteresis dynamics of the MR damper, which can be realized by identifying a forward model of MR damper and then calculating the input voltage to generate a reference damping force. It can also be realized directly by updating an inverse model of MR damper without identification of the forward model, which then works as an adaptive inverse controller. The other is an adaptive reference feedback control which gives the desired damping force to match the seat dynamics to a specified reference dynamics even in the presence of uncertainties in the suspension structure. The stability of the total system including the two adaptation algorithms is discussed and its stability condition is explored. Validity of the proposed algorithm is also examined in simulation studies.