Semi-active control of structural systems with uncertainties using an unscented Kalman filter

This work presents a novel semi-active control approach for the mitigation of vibrational response of structures. As is often the case for structural systems, the underlying mathematical/simulation model is not entirely deterministic due to uncertainties related to both the system properties as well as the noise content of the measured information. Therefore, in order to successfully monitor the system, it is essential to develop suitable algorithms that can incorporate dynamic feedback into the computation. In order to meet the aforementioned challenges, in the approach introduced herein a nonlinear joint state and parameter estimation algorithm is employed. The combination of an LQR controller with a linear Kalman Filter is already well established and is commonly known as Linear-Quadratic-Gaussian (LQG) control. In what follows the combination of a nonlinear filter equivalent, namely the Unscented Kalman Filter (UKF) with a Linear Quadratic Regulator (LQR) semiactive controller is numerically investigated. The proposed methodology is validated through two numerical applications, a first one assuming uncertain structural parameters, and a second one employing online tuning of the design parameter R.

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