Damping force tracking control of magnetorheological damper based on Koopman operators
LIU Zhen-ze
XU Xin-ze
GUO Jie
HE Yu-chun
ZHUANG Ye
YU Shu-you
Abstract：In order to realize a high-precision damping force tracking of magnetorheological damper(MRD),a discrete-time linear quadratic tracking(DLQT)control strategy based on Koopman operators is proposed.Aiming at the hysteresis nonlinearity of MRD,a nonlinear recurrent neural network(RNN)model of MRD is established.Koopman operators the-ory and extended dynamic mode decomposition(EDMD)algorithm are used to obtain a high-dimensional model of MRD.A discrete-time linear quadratic tracking controller is designed by using the high-dimensional linear model.The expected signals of different frequencies are tracked through simulation experiments,which verifies the effectiveness of the pro-posed scheme.Furthermore,physics experiments are conducted on a 2-degree-of-freedom quarter suspension experimental system equipped with a MRD,which show that the strategy can achieve high-precision tracking of signals.
Keywords：magnetorheological dampertracking controlKoopman operatorsextended dynamic mode decomposi-tionrecurrent neural network
Publication Date：2026-01-30
Online Publishing Date：2026-02-05(First online date of this platform, not the publication date of the document)
Pages：12( 117-128 )