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Semiactive Control for Vibration Attenuation

Article  in  Journal of Intelligent Material Systems and Structures · November 1994

DOI: 10.1177/1045389X9400500616

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Journal of Intelligent Material Systems and
Structures
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Semiactive Control for Vibration Attenuation

George Leitmann
Journal of Intelligent Material Systems and Structures 1994 5: 841
DOI: 10.1177/1045389X9400500616

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 Semiactive Control for Vibration Attenuation

GEORGE LEITMANN
College of Engineering, University of California, Berkeley, CA 94720

ABSTRACT: With the advent of materials, such as electrorheological fluids, whose material prop-
erties can be altered rapidly by means of external stimuli, employing such materials as actuators for
the controlled attenuation of undesirable vibrations is now possible. Such control schemes are
dubbed semiactive in that they attenuate vibrations whether applied actively or passively. We in-
vestigate various such control schemes, allowing for both separate and joint control of the stiffness
and damping characteristics of the material.

INTRODUCTION In order to illustrate the basic ideas

IBRATIONS of system components are usually highly
V undesirable and the suppression, or at least the attenua-
tion, of vibrations is motivated by considerations such as
isolation against noise, enhancement of the lifetime of
vibration-prone machinery, improvement in the precision of
measuring instruments and of manufacturing tools, and
so on.
Currently employed techniques for vibration suppression
arebased primarily on passive techniques such as the tuning
of parameters. That is, system parameters such as masses,
spring and damper constants, and so on, are selected in
some optimal fashion, for instance, so as to minimize the
amplitude of oscillations of a critical component subjected
to some prescribed perturbation (Reithmeier and Kucukay,
1988). Additional improvement in desired performance may
underlying the pro-
posed employment of appropriate materials as actuators in
semiactive control schemes in order to attenuate vibratory
motion of a mechanical system subjected to unknown distur-
bances, we shall consider the simplest meaningful model.
Such a model is that of a body of mass M moving in recti-
linear motion under forces supplied by a linear spring
(spring coefficient k), a linear damper (damping coefficient
c), and a possibly unknown but bounded time-varying force
F(t).
In the following sections we shall treat two cases, one in
which the properties of the spring and damper can be varied
(controlled) separately and the other in which these proper-
ties can be varied only jointly. For each case we shall con-
sider two control schemes, one based on minimizing the
rate of change of the energy of the body and the other based
on considerations of Lyapunov stability theory; the latter

be obtained by employing active measures by means of control scheme may be viewed as one predicated on mini-
hydraulic or electromechanical actuators (Hagedorn, 1986; mizing the phase velocity.
Weltin, 1988).
Recent developments in miniaturizing microprocessors SEPARATELY CONTROLLABLE STIFFNESS
and sensors, and especially the progress in sensor tech-
AND DAMPING
nology for displacement and velocity measurement (e.g.,
laser sensors), make it increasingly feasible to employ Here we consider a device whose stiffness modelled by a
control schemes for the suppression of even high frequen-
linear spring and whose viscous behavior modelled by a
cy vibrations. With the additional availability of mate-
rials which can be made to alter their material proper-
linear damper can be varied independently. Thus, we
assume that k and c can take on any values between
ties very rapidly, and hence can serve as actuators with bounds:
prescribed
negligible delays in control action, the employment of
so-called &dquo;semiactive&dquo; control schemes for vibration at-
tenuation deserves serious consideration. Control schemes
are called semiactive because they are efficacious, that is,
where ko, k,, co, C1 are given. We may suppose that k and c
can be adjusted by separate control variables U1 and u2, re-
act in a desirable fashion in both a passive and an active
mode, with their performance generally enhanced in the ac- spectively. For instance, without loss of generality, let
tive mode. Thus, a spring/damper device attached to a
vibrating body tends to attenuate the body’s vibrations
whether or not the spring/damper characteristics are prop-
erly varied.

841

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842

where and, in particular, does there exist a neighborhood of y =

y 0 (that is, a ball centered at the origin of phase space)

=

in whose complement the rate of change of energy is

guaranteed to be negative? For a discussion of this question
see Leitmann (1993); in particular, it is shown there that the
answer to the second part of the question is always &dquo;no&dquo;.
We assume that the disturbing force is a Lebesgue-
measurable function of time (for most applications piece- Control Based on Lyapunov Stability Theory
wise continuity suffices) bounded by a possibly unknown
constant F~ Here it is convenient to restate the system description in
state space form. Let x E R’ denote the state (phase) and
u E R2 the control of the system. Then the equation of mo-
tion (5) can be rewritten as
The body’s equation of motion is

where
Control Based on Minimizing Energy Change
Keeping in mind that we wish to reduce the motion (posi-
tion and velocity) of the body as much and as rapidly as pos-
sible, it seems reasonable to inquire after controls u,, and
u2, that is, adjustments of k and c, which minimize the rate
of change of the body’s energy, namely, the rate of work by
the forces acting on the body,

Let P E R2~2 be a symmetric positive definite matrix and

It is readily seen that
consider the P-norm of the state

implies whereh- x (t) is a solution of Equation (9) for given con-

trolh- u(t) and disturbancet I- f(t). A control of in-
terest is one that minimizes the rate of change of norm (10),
that is, of the &dquo;distance&dquo; from the zero state. Here, then, we
seek a feedback control x h* p (x), such that

Indeed, for oscillatory (not necessarily periodic) motion,

this control scheme assures energy extraction by means of
the spring during each cycle, that is, between successive
zeros of displacement y(t). Of course, the damper extracts

energy for all yet) =1= 0. It is interesting to note that a

reversal of the control scheme for the spring (k ko if =

yy > 0, k k1 if y~ < 0) results in the spring increasing

=
for allpossible realizations of disturbance f(t).
the body’s energy during each cycle. By appropriate choice of matrix P we can combine the
A question of interest is the following: For what values of task of minimizing the rate of change of the state norm and
the phase coordinates y,y, does the control scheme (7) the proof of stability of the controlled system (Kalman and
assure energy reduction, that is, Bertram, 1960; Leitmann, 1981). Consider the Lyapunov
function candidate

*Here, as well as in the subsequent control schemes, the controls are discontinuous
functions of y and y; consequently, solutions may exist only in a &dquo;generalized&dquo; sense where, in view of the stability of matrix A, P is the positive
(Leitmann, 1978 and references therein). definite solution of the algebraic Lyapunov equation

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 843

for given symmetric positive definite Q E R2.2.

The derivative of the Lyapunov function for a solution of
Equation (9) is

so that

Hence, we are concerned with

and hence

since

is a &dquo;ball of uniform ultimate boundedness&dquo; of the system for

all possible disturbances F(t). That is, the system is glob-
In view of Equation (13),
ally uniformly asymptotically stable to ball X8(g) . In fact,
X8( g ) is the ball of u.u.b. for the &dquo;nominal&dquo; system, namely,
the system with constant control u 1 0 corresponding to
k i «k, c --- cic, and hence represents a conservative
Thus, to obtain u = p (x) resulting in the minimum of L (u)
choice in view of Equation (20) with Equation (19), since
for all possible f(t), we need only minimize xTPB(x)u for
control (18) reduces L( p(x)) except for those special system
ui E [ -1,1] . If we denote P by
trajectories belonging to the &dquo;switching manifold&dquo; S, defined
by P13XI + P2lX2 = 0.

then JOINTLY CONTROLLABLE STIFFNESS

AND DAMPING

Now we consider a device whose stiffness modelled by a

linear spring and whose viscous behavior modelled by a
linear damper can be varied only jointly. We assume again
so that that k and c can be varied between prescribed bounds

where ko, ki, co, C1 aregiven. However, now that k and c

cannot be varied independently, assuming
The choices of k( pl(x)) and c( p2(x)), corresponding to
control (18), are given in Leitmann (1993).
Thus far we have established that control (18) optimizes
the system response vis-a vis the stated criterion (11). Now
let us return to Equation (17) for control (18). In view of
Equation (19)**
in general constitutes an approximation to the actual func-
tions u P k(u),c(u). For purposes of deducing simple
controls we shall assume Equation (24), where again

**X~,,, (Z) and X_., (Z) denote, respectively, the minimum and maximum eigenvalues
of a matrix Z with real eigenvalues. Of course, the eigenvalues of P and Q are real
and positive.

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844

Supposing again a disturbing force F(t) given by Equation yields a control scheme with the corresponding k( p (x)) and
(4), the body’s equation of motion now is Equation (5) but c( p(x)), given in Leitmann (1993). Also, we note that here,
with U1 =
u, = u. too,

Control Based on Minimizing Energy Change

Now we may seek a scalar control by means of which k (u)
and c (u) can be varied so as to minimize the body’s rate of
Returning to Equation (29) corresponding to control (31),
energy change
and utilizing Equation (32), we have

Subject to Equation (24), this leads to the feedback control

resulting again in a guaranteed ball of uniform ultimate

boundedness X8(g) given by Equation (22), namely, that of
The choices of k(u) and c(u) corresponding to control the nominal system (k i a’‘, c i «‘). Since, in view of
(27) are shown in Leitmann (1993). Equation (32), control (31) reduces L(p(x)) except for spe-
We may again ask for the phase space region in which the cial system trajectories which belong to the switching mani-
minimum rate of change of energy, due to control (27), is folds Sl and S, defined by
assured to be negative for all possible disturbing forces
F(t), and specifically whether or not there is a ball centered
at y = y = 0 in whose complement E(~(y,y)) < 0 is
this choice of a ball of u.u.b. is generally conservative.
guaranteed no matter what F(t) is. As before, the answer to
the second part of the question is &dquo;no&dquo;. It should be noted that, in counterdistinction to the
minimum rate of energy change approach, controls based
on Lyapunov stability theory seem to be preferable for
Control Based on Lyapunov Stability Theory a number of reasons: (1) While one cannot assure that

It is min E(u) < 0 on the complement of a ball centered at

again convenient to restate the equation of motion
terms of state x. Now, Equation (5) becomes
where
and all other quantities are defined as before.
Again motivated by the search for a feedback control,
u = p (x) E R, which assures the minimum of the rate of
in
the origin of phase (state) space, one can always assure
min L (u) < 0 on the complement of such a neighborhood
of x = 0; indeed, for the undisturbed system (F = 0), that
region is the whole state space and hence Q = 0, yielding
asymptotic stability to x = 0. (2) The region on which
min L (u) < 0 is guaranteed can be maximized by minimiz-
ing r, given by Equation (21), by choosing Q = I (Patel and
Toda, 1981). (3) Keeping in mind that the scheme is based
on minimizing the rate of change of a P-norm of the state at
each instant of time, t, desired weighting of the state compo-
nents can be achieved by appropriate choice of the elements
of matrix Q.

change of a P-norm of the system’s state for all possible dis- Finally, we note that the proposed control (31) is very
robust with respect to state measurement errors. Such errors
turbances, we consider P-norms which qualify as Lyapunov come into play only in a neighborhood of the switching
functions. Now, corresponding to state Equation (28),
manifolds. This problem is addressed in Leitmann and
Reithmeier (1993e) and Reithmeier and Leitmann (1993)
through the use of a fuzzy controller.
Recalling P given by Equation (17), and noting that
Multi-Degree-of-Freedom Systems
The aforegoing treatment is restricted to single-degree-of-
freedom systems. Extensions to multi-degree-of-freedom
we find that the minimizing feedback control systems can be found in Leitmann and Reithmeier (1993a,
1993b, 1993c, 1993d). Here we merely summarize one of
their results.

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 845

The state equation of the systems under consideration is to conventional(hydraulic or electro-mechanical) actuators,
the time constant of an ER fluid-based actuator is truly

negligible compared that of many systems whose motion

where x E R2n is the state, n being the number of degrees
of freedom, u E U C Rm is the bounded control, A E
~2n.2n ~ ~ stable matrix,
with Bi E R2n,2n, and e(x,t) is the possibly nonlinear, time-
dependent part of the system which contains the unknown
input. The normalized control constraint is
to
is to be attenuated, thus obviating the vexing problems asso-
ciated with &dquo;neglected dynamics&dquo; (Leitmann et al., 1986;
Corless et al., 1990).
The stiffness and damping characteristics of a spring/
damper device employing an ER fluid, that is, the spring
coefficient k and damping coefficient c of the linear spring/
damper model, are functions of the electric field strength of
the field imposed on the fluid. Namely, they are functions of
(normalized) voltage

Thus, k andc are jointly controllable. Typical functions

Furthermore, are Choi et al. (1990).

given by
In the controller design utilizing ER fluids reported here,
the linear variation of k and c with control variable u, given
by Equation (24), was employed (Leitmann and Reithmeier,
With P E R2^.2^ being the positive definite solution of the 1993e; Reithmeier and Leitmann, 1993). As noted earlier,
Lyapunov equation in general, this assumption constitutes an approximation
unless there exists a mapping u P v(u) such that

for given symmetric positive definite Q E RZ^.2^, the con-

trol that minimizes the Lyapunov derivative (and hence the for u E [ -1,1] . Of course, such is the case if k and care
P-norm of x) is themselves linear functions, in which case v = (1/2) x
(u + 1). It is also the case if k and c are monotone in-
creasing and congruent, that is

The control corresponding to minimum rate of change of

system energy can be found in Leitmann and Reithmeier
(1993d).
AN APPLICATION EMPLOYING
ELECTRORHEOLOGICAL FLUIDS
One material whose stiffness and damping properties can
be altered is an electrorheological fluid (ER fluid). This is
accomplished by subjecting the fluid to an electric field
(Block and Kelly, 1988; Oppermann et al., 1989; Choi et
al., 1990; Coulter et al., 1993). The uses of such materials
in a variety of devices have been discussed by various
authors (Coulter et al., 1993; Gordaninejade et al., 1993;
Morishita and Ura, 1993; Sproston et al., 1993; and refer-
ences therein).
One of the attractive features of ER fluids utilized as actu-
ators in control devices is the rapidity with which changes in
the imposed electric field lead to changes in the stiffness/
damping properties of the fluid; typically, a change in elec-
tric field strength results in a change in the material proper-
ties within 10-5 to 10-4 seconds. Hence, in counterdistinction
Simulation Results
The efficacy of the proposed controls has been demon-
strated via numerous simulations for a variety of distur-
bances ranging from periodic to random ones. See Leit-
mann and Reithmeier (1993e) for single-degree-of-freedom
systems, and Leitmann and Reithmeier (1993a, 1993b,
1993c and 1993d) for multi-degree-of-freedom ones.
The control scheme based on minimizing the Lyapunov
derivative (and thus the phase velocity) appears to be
superior to the other schemes in decreasing phase amplitude
and in suppressing resonance effects.
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