Adaptive backstepping-based tracking control design for nonlinear active suspension system with parameter uncertainties and safety constraints

Pang, Hui; Zhang, Xu; Xu, Zeren

doi:10.1016/j.isatra.2018.11.047

Cited by 85 publications

(51 citation statements)

References 29 publications

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“…In this study, the projection theorem is applied to design the adaptive law, the parameters estimation

\overset{true^}{α}

\overset{true^}{β}

, and

\overset{true^}{γ}

should satisfy the following adaptive law.

\begin{array}{l} \overset{\overset{true^}{α}}{true} = {Proj}_{\overset{true^}{α}} ({}, *_{α}) \\ \overset{\overset{true^}{β}}{true} = {Proj}_{\overset{true^}{β}} ({}, *_{β}) \\ \overset{\overset{true^}{γ}}{true} = {Proj}_{\overset{true^}{γ}} ({}, *_{γ}), \end{array}

where * α , * β , and * γ are adjustable parameters, and the projection operator is defined as:

{Proj}_{\overset{ϵ}{true}} (*_{ϵ}) = \{\begin{matrix} center \\ 0 & if \overset{true^}{ϵ} \geq ϵ_{normalmax} and *_{ϵ} > 0 \\ 0 & if \overset{true^}{ϵ} \leq ϵ_{normalmin} and *_{ϵ} < 0 \\ *_{ϵ} & otherwise \end{matrix} .

…”

Section: Mode Decoupling Hierarchical Controller Designmentioning

confidence: 99%

“…Active suspension with four independently controlled actuators in corners is able to provide the better performance than the other different types of advance suspension systems . In recent year, the advance control algorithm is studied and proved to have a crucial impact on active suspension no matter what actuators are adopted . Wang et al designed an adaptive backstepping controller with grey signal predictor for active suspension to improve ride comfort.…”

Section: Introductionmentioning

confidence: 99%

“…Wang et al designed an adaptive backstepping controller with grey signal predictor for active suspension to improve ride comfort. Pang et al proposed an adaptive backstepping‐based tracking control for nonlinear suspension with consideration of uncertainties, safety constrained, and input delay. Liu et al proposed a novel adaptive sliding fault‐tolerant controller for active suspension to improve ride comfort, and the H∞ optimization scheme based on differential evolution is utilized to design control parameters.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Ding

Zhang

et al. 2020

Intl J Robust & Nonlinear

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A mode decoupling control strategy is proposed for the active Kinetic Dynamic Suspension Systems (KDSS) with electrohydrostatic actuator (EHA) to improve the roll and warp mode performances. A matrix transfer method is employed to derive the modes of body and wheel station motions for full vehicle with active KDSS. The additional mode stiffness produced by the active KDSS is obtained and quantitatively described with the typical physical parameters. A new hierarchical feedback control strategy is proposed for the active KDSS to improve the roll and warp motion performances and simultaneously accounting for nonlinear dynamics of the actuators with hydraulic uncertainties. H∞ static output-feedback control is employed to obtain the desirable mode forces, and a new projection-based adaptive backstepping sliding mode tracking controller is designed for EHA to deal with address the nonlinearity and parameters uncertainty. This controller is used to realize the desirable pressure difference of EHA required from the target mode forces. Numerical simulations are presented to compare the roll and warp performances between the active KDSS, conventional spring-damper suspension, and suspension with antiroll bar under typical excitation conditions. The evaluation indices are normalized and compared with radar chart. The obtained results illustrate that the proposed active KDSS with proposed controller does not produce additional warp motion for vehicle body, and has achieved more reasonable tire force distribution among wheel stations, the roll stability, road holding, and significantly improved ride comfort simultaneously.

show abstract

“…In this study, the projection theorem is applied to design the adaptive law, the parameters estimation

\overset{true^}{α}

\overset{true^}{β}

, and

\overset{true^}{γ}

should satisfy the following adaptive law.

\begin{array}{l} \overset{\overset{true^}{α}}{true} = {Proj}_{\overset{true^}{α}} ({}, *_{α}) \\ \overset{\overset{true^}{β}}{true} = {Proj}_{\overset{true^}{β}} ({}, *_{β}) \\ \overset{\overset{true^}{γ}}{true} = {Proj}_{\overset{true^}{γ}} ({}, *_{γ}), \end{array}

where * α , * β , and * γ are adjustable parameters, and the projection operator is defined as:

{Proj}_{\overset{ϵ}{true}} (*_{ϵ}) = \{\begin{matrix} center \\ 0 & if \overset{true^}{ϵ} \geq ϵ_{normalmax} and *_{ϵ} > 0 \\ 0 & if \overset{true^}{ϵ} \leq ϵ_{normalmin} and *_{ϵ} < 0 \\ *_{ϵ} & otherwise \end{matrix} .

…”

Section: Mode Decoupling Hierarchical Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Ding

Zhang

et al. 2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…With the application and implement of automobile suspension design, it is necessary to attain a well balance between the handling stability and ride quality, which are usually contradictive with each other [1][2][3]. To mention that, how to cooperate with these two conflicting performance indicators has been a research hotspot currently [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Robust Mixed H2/H∞ State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay

2020

Self Cite

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In order to achieve better dynamics performances of a class of automobile active suspensions with the model uncertainties and input delays, this paper proposes a generalized robust linear H2/H∞ state feedback control approach. First, the mathematical model of a half-automobile active suspension is established. In this model, the H∞ norm of body acceleration is determined as the performance index of the designed controller, and the hard constraints of suspension dynamic deflection, tire dynamic load and actuator saturation are selected as the generalized H2 performance output index of the designed controller to satisfy the suspension safety requirements. Second, a generalized H2/H∞ guaranteed cost state-feedback controller is developed in terms of Lyapunov stability theory. In addition, the Cone Complementarity Linearization (CCL) algorithm is employed to convert the generalized H2/H∞ output-feedback control problem into a finite convex optimization problem (COP) in a linear matrix inequality framework. Finally, a numerical simulation case of this half-automobile active suspension is presented to illustrate the effectiveness of the proposed controller in frequency-domain and time-domain.

show abstract

“…is structural form breaks through the concept of traditional suspension system and provides theoretical support for the improvement of suspension structure. Except for changing systematic structure, Pang et al [8] argued that it is also one of the most effective ways to adjust dynamics parameters for improving the performance of suspension system. e experimental results from a quarter car test rig which were done by Mitra et al [9] show that mass and damping coefficient are the most influential parameters for ride comfort.…”

Section: Introductionmentioning

confidence: 99%

Integrated Vibration Control of In-Wheel Motor-Suspensions Coupling System via Dynamics Parameter Optimization

Wang

Niu

Song

2019

Shock and Vibration

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In order to integrally control the vibration of in-wheel motor- (IWM-) suspensions coupling system of an electric vehicle, a novel nonlinear dynamics model of the coupling system, which consists of the motor magnetic gap (MMG), is established. Synthesizing subtargets of the vertical vibration acceleration of bodywork, the vertical deformation of tire, the suspension travel, and the vertical fluctuation of MMG, a composite optimization mathematical model is set up. Based on artificial fish swarm algorithm (AFSA), a novel dynamics parameter optimization method is proposed to search the optimal parameter combination existing in the nonlinear dynamics model. Simulation analyses demonstrate that the proposed optimization method is superior to genetic algorithm (GA) under the same optimization conditions, and it can significantly decrease the fluctuation of MMG and improve ride comfort.

show abstract

Adaptive backstepping-based tracking control design for nonlinear active suspension system with parameter uncertainties and safety constraints

Cited by 85 publications

References 29 publications

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Robust Mixed H2/H∞ State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay

Integrated Vibration Control of In-Wheel Motor-Suspensions Coupling System via Dynamics Parameter Optimization

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