This paper addresses the problem of controlling quarter-vehicle semi-active suspension systems. Presently, the suspension system involves a magnetorheological (MR) damper featuring hysteretic behavior captured through the Bouc–Wen model. The control objective is to regulate well the chassis vertical position despite the road irregularities. The difficulty of the control problem lies in the nonlinearity of the system model, the uncertainty of some parameters and the inaccessibility to measurements of the hysteresis internal state variable. The control design is performed using Lyapunov control design tools; it includes an observer providing online estimates of the hysteresis internal state and an adaptive state-feedback regulator. The adaptive controller, obtained by combining the state observer and the state-feedback regulator, is formally shown to meet the desired control objectives. This theoretical result is confirmed by several simulations. The latter illustrate the performances of the present adaptive controller and compare them with those of earlier control approaches and those of the passive suspension.
Abstract-The problem of modeling and controlling vehicle longitudinal motion is addressed for front wheel propelled vehicles. The chassis dynamics are modeled using relevant fundamental laws taking into account aerodynamic effects and road slop variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke"s model. A highly nonlinear model is thus obtained and based upon in vehicle longitudinal motion simulation. A simpler, but nevertheless accurate, version of that model proves to be useful in vehicle longitudinal control. For security and comfort purpose, the vehicle speed must be tightly regulated, both in acceleration and deceleration modes, despite unpredictable changes in aerodynamics efforts and road slop. To this end, a nonlinear controller is developed using the Lyapunov design technique and formally shown to meet its objectives i.e. perfect chassis and wheel speed regulation.
The problem of controlling the longitudinal motion of front-wheels electric vehicle (EV) is considered making the focus on the case where a single dc motor is used for both front wheels. Chassis dynamics are modelled applying relevant fundamental laws taking into account the aerodynamic effects and the road slope variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke's model. Despite its highly nonlinear nature the complete model proves to be utilizable in longitudinal control design. The control objective is to achieve a satisfactory vehicle speed regulation in acceleration/deceleration stages, despite wind speed and other parameters uncertainty. An adaptive controller is developed using the backstepping design technique. The obtained adaptive controller is shown to meet its objectives in presence of the changing aerodynamics efforts and road slope.
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