Semi-active vibration isolation control using dual heuristic dynamic programming

This paper presents the design of an optimal controller which is applied to control the actuator force of the semi-active vibration isolator in order to suppress vibration effectively. The controller design technique is based on dual heuristic dynamic programming (DHP), which is one of the structures in adaptive dynamic programming (ADP). Least mean square (LMS) algorithm is applied to the learning rules of the action network and the critic network. The update equations for the weights based on backpropagation algorithm are illustrated in detail. A single-stage training process is also demonstrated as a useful training strategy. Two types of vibrations are utilized to verify the effectiveness of this control design. Simulation results show that, compared with the passive system, the semi- active vibration isolator can significantly improve the system´s performances in acceleration, velocity and displacement.