Semi active control of magnetorheological materials, data collected and presented by umair n. mughal
64
Semi Active Control of Magnetorheological Damper for Structures Umair Najeeb Mughal Supervisors: Prof. Robert Gri˜ n´ o Prof. Fay¸ cal Ikhouane Institute of Industrial and Control Engineering Universitat Politecnica De Catalunya, BarcelonaTECH, Barcelona, Spain 08034 [email protected] July 15, 2011
Transcript of Semi active control of magnetorheological materials, data collected and presented by umair n. mughal
Semi Active Control ofMagnetorheological Damper for
Structures
Umair Najeeb Mughal
Supervisors:Prof. Robert Grino
Prof. Faycal Ikhouane
Institute of Industrial and Control EngineeringUniversitat Politecnica De Catalunya, BarcelonaTECH,
Barcelona, Spain 08034
July 15, 2011
Outline Introduction State of the Art My Present Status Future Goals/Milestones
1 Introduction
2 State of the Art
3 My Present Status
4 Future Goals/Milestones
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 2 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Outline
1 IntroductionMotivation and Objective
2 State of the Art
3 My Present Status
4 Future Goals/Milestones
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 3 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Motivation and Objective
Introduction
Motivation
Earthquake Resilient Structures
Life Safety
Inventory Safety
Open Problems
Actuator Dynamics
Closed Loop Stability
Objective
Nonlinear Control Law
Mathematical Proof
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 4 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Motivation and Objective
Introduction
Motivation
Earthquake Resilient Structures
Life Safety
Inventory Safety
Open Problems
Actuator Dynamics
Closed Loop Stability
Objective
Nonlinear Control Law
Mathematical Proof
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 4 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Outline
1 Introduction
2 State of the ArtSmart Materials
Smart MaterialsMagnetorheological Materials
Non NewtonianClassifications of FluidsMathematical Models
Structural ControlMR Damper Models and Control Techniques
MR Damper ModelsMR Damper Semi Active Control Techniques
3 My Present Status
4 Future Goals/Milestones
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 5 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Smart Materials
Shape Memory Alloys
Magnetostrictive Materials
Piezoelectric Materials
Magnetorheological Materials
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 6 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Smart Materials
Shape Memory Alloys
Magnetostrictive Materials
Piezoelectric Materials
Magnetorheological Materials
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 6 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Magnetorheological Materials
What is it and how does it work?
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 7 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Magnetorheological Materials
What is it and how does it work?
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 7 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Magnetorheological Materials
Various Modes
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 8 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Smart Materials
Magnetorheological Materials
Various Modes
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 8 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Classifications of Fluids
Response to normal stress
Compressible (typically gases)
Incompressible (typically liquids)
Response to shear stress
Newtonion
Non Newtonian
Time Independent Fluids
Time Dependent Fluids
Viscoelastic Fluids
τyx = µ·γyx
·γyx = f (τyx)
or
τyx = f1(·γyx)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 9 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids Behavior
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 10 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids Behavior
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 10 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
Shear Thinning Fluids
Power Law
µ =τyx·γyx
= m(·γyx)n−1
Carreau Viscosity Model
µ− µ∞µ0 − µ∞
={
1 + (λ·γyx)2
} n−12
Cross Viscosity Model
µ− µ∞µ0 − µ∞
=1
1 + k(·γyx)
n .
Ellis Fluid Model
µ =µ0
1 +
(τyxτ 12
)α−1
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 11 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
Shear Thinning Fluids
Power Law
µ =τyx·γyx
= m(·γyx)n−1
Carreau Viscosity Model
µ− µ∞µ0 − µ∞
={
1 + (λ·γyx)2
} n−12
Cross Viscosity Model
µ− µ∞µ0 − µ∞
=1
1 + k(·γyx)
n .
Ellis Fluid Model
µ =µ0
1 +
(τyxτ 12
)α−1
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 11 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
Viscoplastic
Bingham Plastic
τyx = τB0 + µB(·γyx) for |τyx | >
∣∣τB0 ∣∣ ,·γyx = 0 for |τyx | <
∣∣τB0 ∣∣ .Hurshchel Bulkley Fluid
τyx = τH0 + m(·γyx)n for |τyx | >
∣∣τB0 ∣∣ ,·γyx = 0 for |τyx | <
∣∣τB0 ∣∣ .Casson Fluid Model
(|τyx |)12 =
(∣∣τC0 ∣∣) 12 + µC
(∣∣∣ ·γyx ∣∣∣) 12
for |τyx | >∣∣τC0 ∣∣ ,
·γyx = 0 for |τyx | <
∣∣τC0 ∣∣ .
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 12 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
ViscoplasticBingham Plastic
τyx = τB0 + µB(·γyx) for |τyx | >
∣∣τB0 ∣∣ ,·γyx = 0 for |τyx | <
∣∣τB0 ∣∣ .Hurshchel Bulkley Fluid
τyx = τH0 + m(·γyx)n for |τyx | >
∣∣τB0 ∣∣ ,·γyx = 0 for |τyx | <
∣∣τB0 ∣∣ .Casson Fluid Model
(|τyx |)12 =
(∣∣τC0 ∣∣) 12 + µC
(∣∣∣ ·γyx ∣∣∣) 12
for |τyx | >∣∣τC0 ∣∣ ,
·γyx = 0 for |τyx | <
∣∣τC0 ∣∣ .Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 12 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
Shear Thickening
Power Lawµ =
τyx·γyx
= m(·γyx)n−1
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 13 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Independent Fluids
Shear Thickening
Power Lawµ =
τyx·γyx
= m(·γyx)n−1
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 13 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Dependent Fluids Behavior
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 14 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Dependent Fluids Behavior
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 14 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Dependent Fluids
Thixotropy
Houska Model
τyx = (τy0 + τy1) + (m0 + ξm1)( ·γyx
)n,
dξdt = a(1− ξ)− bξ
( ·γyx
)ε.
Rheopexy or Negative Thixotropy
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 15 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Time Dependent Fluids
Thixotropy
Houska Model
τyx = (τy0 + τy1) + (m0 + ξm1)( ·γyx
)n,
dξdt = a(1− ξ)− bξ
( ·γyx
)ε.
Rheopexy or Negative Thixotropy
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 15 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Non Newtonian Fluid Models
Viscoelastic
Maxwell Model
τ + λ·τ = µ
·γ
Voigt Model
τ = Gγ + µ·γ
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 16 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Non Newtonian
Non Newtonian Fluid Models
Viscoelastic
Maxwell Model
τ + λ·τ = µ
·γ
Voigt Model
τ = Gγ + µ·γ
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 16 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Structural Control
I Base Isolation
II Structural Control
(i) Passive Control,
(ii) Active Control,
(iii) Hybrid Control,
(iv) Semi Active Control.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Structural Control
I Base Isolation
II Structural Control
(i) Passive Control,
(ii) Active Control,
(iii) Hybrid Control,
(iv) Semi Active Control.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Structural Control
I Base Isolation
II Structural Control
(i) Passive Control,
(ii) Active Control,
(iii) Hybrid Control,
(iv) Semi Active Control.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Passive Control
a Metallic yield Damping Control,
b Friction Damping Control,
c Viscoelastic Damping Control,
d Viscous Fluid Damping Control,
e Tuned mass dampers (TMD) Control.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 18 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Passive Control
a Metallic yield Damping Control,
b Friction Damping Control,
c Viscoelastic Damping Control,
d Viscous Fluid Damping Control,
e Tuned mass dampers (TMD) Control.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 18 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Active Control
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 19 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Active Control
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 19 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Hybrid Control
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 20 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Hybrid Control
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 20 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Semi Active Control
a Variable orifice viscous damper,
b Variable friction damper,
c Variable stiffness damper,
d Controllable fluid damper.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Semi Active Control
a Variable orifice viscous damper,
b Variable friction damper,
c Variable stiffness damper,
d Controllable fluid damper.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Structural Control
Semi Active Control
a Variable orifice viscous damper,
b Variable friction damper,
c Variable stiffness damper,
d Controllable fluid damper.
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Bouc Wen Model
Hyperbolic Tangent Model
Dahl Friction Model
Others
Non Parametric Models
Neural Network
Fuzzy Logic
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Bouc Wen Model
Hyperbolic Tangent Model
Dahl Friction Model
Others
Non Parametric Models
Neural Network
Fuzzy Logic
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Bouc Wen Model
Hyperbolic Tangent Model
Dahl Friction Model
Others
Non Parametric Models
Neural Network
Fuzzy Logic
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Basic Bingham Model
fmr = fc sgn( ·
x)
+ c0·x + f0
Extended Bingham Model
fmr =
{c0·x1 + fc sgn
( ·x1)
+ f0 = k2 (x3 − x2) + f0 |F | > fc ,
k1 (x2 − x1) + c1·x2 + f0 = k2 (x3 − x2) + f0 |F | ≤ fc .
}
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Basic Bingham Model
fmr = fc sgn( ·
x)
+ c0·x + f0
Extended Bingham Model
fmr =
{c0·x1 + fc sgn
( ·x1)
+ f0 = k2 (x3 − x2) + f0 |F | > fc ,
k1 (x2 − x1) + c1·x2 + f0 = k2 (x3 − x2) + f0 |F | ≤ fc .
}
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bingham Model
Basic Bingham Model
fmr = fc sgn( ·
x)
+ c0·x + f0
Extended Bingham Model
fmr =
{c0·x1 + fc sgn
( ·x1)
+ f0 = k2 (x3 − x2) + f0 |F | > fc ,
k1 (x2 − x1) + c1·x2 + f0 = k2 (x3 − x2) + f0 |F | ≤ fc .
}
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bouc-Wen Model
Basic Bouc-Wen Model
fmr = c0·x +k0 (x − x0) + αz ,
·z = −ϕ
∣∣∣ ·x∣∣∣ z |z |n−1 − β ·x |z |n + κ·x .
Modified Bouc-Wen Model
fmr = c1·y +k1 (x − x0)
·y = 1
c0+c1
{αz + c0
·x +k0 (x − y)
}·z = −ϕ
∣∣∣ ·x − ·y ∣∣∣ z |z |n−1 − β|z |n + κ( ·
x −·y)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bouc-Wen Model
Basic Bouc-Wen Model
fmr = c0·x +k0 (x − x0) + αz ,
·z = −ϕ
∣∣∣ ·x∣∣∣ z |z |n−1 − β ·x |z |n + κ·x .
Modified Bouc-Wen Model
fmr = c1·y +k1 (x − x0)
·y = 1
c0+c1
{αz + c0
·x +k0 (x − y)
}·z = −ϕ
∣∣∣ ·x − ·y ∣∣∣ z |z |n−1 − β|z |n + κ( ·
x −·y)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Bouc-Wen Model
Basic Bouc-Wen Model
fmr = c0·x +k0 (x − x0) + αz ,
·z = −ϕ
∣∣∣ ·x∣∣∣ z |z |n−1 − β ·x |z |n + κ·x .
Modified Bouc-Wen Model
fmr = c1·y +k1 (x − x0)
·y = 1
c0+c1
{αz + c0
·x +k0 (x − y)
}·z = −ϕ
∣∣∣ ·x − ·y ∣∣∣ z |z |n−1 − β|z |n + κ( ·
x −·y)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Hyperbolic Tangent Model
Hyperbolic Tangent Model by Ghao
·x0 = Ξ1x0 + Ξ2x + Ξ3f0 tanh
·x0Vr
∧f mr =
[−k1−c1
]Tx0 +
[k1c1
]Tx ,
Ξ1 =
[0 1
−k0+k1m0
− c0+c1m0
],
Ξ2 =
[0 0
− k1m0− c1
m0
],
Ξ3 =
[0− 1
m0
].
Hyperbolic Tangent Model by Ghao
fmr = A1 tanh
(A3
(·x +
V0
X0x
))+ A2
(·x +
V0
X0x
)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Hyperbolic Tangent Model
Hyperbolic Tangent Model by Ghao
·x0 = Ξ1x0 + Ξ2x + Ξ3f0 tanh
·x0Vr
∧f mr =
[−k1−c1
]Tx0 +
[k1c1
]Tx ,
Ξ1 =
[0 1
−k0+k1m0
− c0+c1m0
],
Ξ2 =
[0 0
− k1m0− c1
m0
],
Ξ3 =
[0− 1
m0
].
Hyperbolic Tangent Model by Ghao
fmr = A1 tanh
(A3
(·x +
V0
X0x
))+ A2
(·x +
V0
X0x
)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Hyperbolic Tangent Model
Hyperbolic Tangent Model by Ghao
·x0 = Ξ1x0 + Ξ2x + Ξ3f0 tanh
·x0Vr
∧f mr =
[−k1−c1
]Tx0 +
[k1c1
]Tx ,
Ξ1 =
[0 1
−k0+k1m0
− c0+c1m0
],
Ξ2 =
[0 0
− k1m0− c1
m0
],
Ξ3 =
[0− 1
m0
].
Hyperbolic Tangent Model by Ghao
fmr = A1 tanh
(A3
(·x +
V0
X0x
))+ A2
(·x +
V0
X0x
)
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Dahl Friction Model
Dahl Friction Model
F = kx(v)·x(t) + kw (v)z(t)
·z = ρ
( ·x −
∣∣∣ ·x∣∣∣ z).
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Dahl Friction Model
Dahl Friction Model
F = kx(v)·x(t) + kw (v)z(t)
·z = ρ
( ·x −
∣∣∣ ·x∣∣∣ z).
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
MR Damper Models
Parametric Models
Dahl Friction Model
Dahl Friction Model
F = kx(v)·x(t) + kw (v)z(t)
·z = ρ
( ·x −
∣∣∣ ·x∣∣∣ z).
Others
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
Semi Active Control Techniques for MR Dampers
Model Based Control
Clipped Optimal Control
Control Based on Lyapunov’sStability Theory
Bang Bang Control
Sliding Mode Control
Backstepping Control
Quantitative Feedback TheoryH2 and H∞ Control
Bilinear Control
Soft Computing Based Control
Neural Networks
Fuzzy Logic
Genetic Algorithms
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
Semi Active Control Techniques for MR Dampers
Model Based Control
Clipped Optimal Control
Control Based on Lyapunov’sStability Theory
Bang Bang Control
Sliding Mode Control
Backstepping Control
Quantitative Feedback TheoryH2 and H∞ Control
Bilinear Control
Soft Computing Based Control
Neural Networks
Fuzzy Logic
Genetic Algorithms
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
MR Damper Models and Control Techniques
Semi Active Control Techniques for MR Dampers
Model Based Control
Clipped Optimal Control
Control Based on Lyapunov’sStability Theory
Bang Bang Control
Sliding Mode Control
Backstepping Control
Quantitative Feedback TheoryH2 and H∞ Control
Bilinear Control
Soft Computing Based Control
Neural Networks
Fuzzy Logic
Genetic Algorithms
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Outline
1 Introduction
2 State of the Art
3 My Present StatusBilinear System
Damped Linear OscillatorBiliear Control
L2 Gain and PassivityBasic System Modified to Control Earthquake ExcitationH∞ Control
4 Future Goals/Milestones
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 28 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Outline
1 Introduction
2 State of the Art
3 My Present Status
4 Future Goals/MilestonesGoalsTimeline
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 37 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Goals
Milestones/Goals
Detailed Modelling
More Accurate ModelsMore Complex Models ofSystemMore Complex Models ofDamper
Controller Design
L2 Gain and PassivityOther NonlinearTechniquesStability Proofs
Simulations
Evaluation
Publications
Documentation
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Goals
Milestones/Goals
Detailed Modelling
More Accurate ModelsMore Complex Models ofSystemMore Complex Models ofDamper
Controller Design
L2 Gain and PassivityOther NonlinearTechniquesStability Proofs
Simulations
Evaluation
Publications
Documentation
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Goals
Milestones/Goals
Detailed Modelling
More Accurate ModelsMore Complex Models ofSystemMore Complex Models ofDamper
Controller Design
L2 Gain and PassivityOther NonlinearTechniquesStability Proofs
Simulations
Evaluation
Publications
Documentation
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
Outline Introduction State of the Art My Present Status Future Goals/Milestones
Timeline
Time Line
Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 39 / 40
I Appreciate Your Attention :)
