Active suppression of pneumatic vibration isolators using adaptive sliding controller with self-tuning fuzzy compensation

Abstract

This paper develops intelligent control schemes for a diaphragm-type pneumatic vibration isolation system. The active-control schemes are applied to the pneumatic isolator to enhance isolation performances in the low-frequency range where passive techniques usually have difficulties in remaining effective, especially at the resonance frequency. The functional approximation technique (FAT) is integrated with a sliding-mode control (SMC) design to capture unknown system dynamics and release the requirement of mathematical modeling. To deal with approximation error and system dynamics variation, an adaptive fuzzy sliding-mode controller (AFSMC) is employed as a compensator of the FAT-based SMC. Lyapunov stability theory is used not only to ensure the closed-loop stability, but also to formulate the updating laws for weighting coefficients of expansion basis and fuzzy tuning parameters. To validate the proposed method, a composite control scheme using pressure and velocity measurements as feedback signals is implemented. Experimental explorations indicate that isolation performances obtained using the proposed FAT-based sliding control augmented with AFSMC compensation (FA + AFSMC) are evidently better than those of the traditional proportional integral-derivative control and solely AFSMC scheme.