Fractional-order robust model reference adaptive control of piezo-actuated active vibration isolation systems using output feedback and multi-objective optimization algorithm

Improving the control performance of active vibration isolation systems is crucial to provide an ultra-quiet environment for precision instruments. This paper presents a new fractional-order robust model reference adaptive controller for the piezo-actuated active vibration isolation systems with a relative-degree-one model. One advantage of the proposed controller lies in that its controller parameters are adjusted online by fractional proportional–integral-type adaptive laws, which not only speeds up the convergence of the closed-loop system, but also improves the control energy efficiency. Moreover, the proposed controller only uses the measurable input and output of the plant as feedback signals, which is convenient for controller implementation. The stability of the closed-loop system is proved based on the Lyapunov theory in detail. The optimal values of the fractional order and adaptive gains for adaptive laws are determined using the multi-objective genetic algorithm through off-line simulation. Comparative experiments on the piezo-actuated active vibration isolation systems are conducted to verify the effectiveness of the proposed controller. Results show that the proposed controller achieves satisfactory isolation performance in a wider frequency band of 20–500 Hz, and simultaneously reduces the control effort compared with the traditional MRAC methods.