Experimental Study on Inverse Model-Based Force Tracking Control of MR Damper

Table 5

Error comparison of different models and schemes.

Model and scheme	Current type
Proposed in this research	Continuously varying	0.0853	0.0584	0.0399
FF^a scheme by Weber [24]	Continuously varying	—	—	0.0733
FB^b scheme by Weber [24]	Continuously varying	—	—	0.0441
FFFB^c scheme by Weber [24]	Continuously varying	—	—	0.0236
Bouc–Wen model [30]	Step	—	0.1349	0.0409
Fully dynamic model [31]	Step	—	0.0561	0.0283
Variable current MNS^d model [32]	Step	0.1163	—	—
Lumped parameter model [35]	Constant/continuously varying	—	0.0927	—
Ha model [35]	Constant/continuously varying	—	0.1037	—

^aFeed forward (FF) force tracking control schemes. ^bFeedback (FB) force tracking control schemes. ^cCombined feed forward/feedback (FFFB) force tracking control schemes. ^dMaxwell nonlinear slider (MNS) model. The errors are recalculated according to the data in research [24].