Control of a Magnetorheological Fluid Vibration Damping System via Feedback Linearization and Suboptimal Design

The development of control systems for a two degreeof-freedom vibration suppression system using a magnetorheological (MR) fluid damper is the subject of this paper. It is assumed that system encounters impulsive disturbance forces. The objective is to use the (MR) fluid damper for the position control and vibration suppression of the payload. The control force is generated by regulating the electric current to the damper. Two control systems, based on (i) the dynamic inversion (feedback linearization) method and (ii) the state-dependent Riccati equation (SDRE) approach, for the position control of the payload and vibration suppression are derived. The dynamic inversion method yields an asymptotically stable linear second-order position error dynamics of the payload, and accomplishes vibration suppression. The SDRE design approach provides a suboptimal control law which accomplishes asymptotic stabilization of the origin in the state space. The SDRE method considers control constraint in the design process, and uses a nonlinear quadratic performance index for minimization. Simulation results are obtained in the presence of impulsive force on the system. It is shown that in the closed-loop system, both the control systems are effective in the position regulation and vibration suppression in the system. KeywordsMagnetorheological Fluid; Damping; Vibration Suppression; Feedback Linearization; Sub-Optimal