Real-time experimental validation of a novel semi-active control scheme for vibration mitigation

This study performs an experimental investigation of a novel, semi-active control strategy for effective vibration mitigation. The implemented approach comprises a combination of the linear quadratic regulator with a nonlinear observer, namely, the unscented Kalman filter, for the control of systems described by uncertainties. Indeed, numerical models of structural systems often result as inadequate because of inherent uncertainties, such as noise, modeling errors, unknown system properties, or influence of varying operational and environmental conditions. In tackling this issue, the unscented Kalman filter is herein employed for adaptive joint state and parameter estimation refining the accuracy of the model employed by the controller and resulting in enhanced vibration mitigation. A scaled five-story shear frame attached to a hydraulic cylinder comprises the tested structure, where actuation is provided by means of a rotational magnetorheological damper operating on the relative motion between the ground floor and the first floor plate. The experimentally obtained results demonstrate a good agreement with simulations and encourage further implementation of the proposed framework in field applications of structural control. Copyright (C) 2016 John Wiley & Sons, Ltd.