Adaptive robust force control for vehicle active suspensions

Chantranuwathana, Supavut; Peng, Huei

doi:10.1002/acs.783

Cited by 95 publications

(63 citation statements)

References 14 publications

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“…However, hydraulic actuators are highly nonlinear and prone to chattering in AVSS applications (Chantranuwathana and Peng, 2004). Moreover, since force generation in hydraulic actuators is highly coupled to the motion of the vehicle body (leading to the formation of backpressure), achieving the desired actuator force without force feedback is difficult (Sam and Hudha, 2006).…”

Section: Introductionmentioning

confidence: 99%

“…This is because the main focus was on calculation of the required control force, excluding the dynamics of the force generating actuators (Chantranuwathana and Peng, 2004;Sam and Hudha, 2006). Although many other types of actuators have been proposed in the literature, hydraulic actuators are the most common in AVSS owing to their rapid response time, high stiffness, superior power-to-weight ratio, low cost, and low heat dissipation during periods of sustained force generation (Dahunsi et al, 2009;Pedro and Dahunsi, 2011).…”

Section: Introductionmentioning

confidence: 99%

“…Chantranuwathana and Peng (2004) studied adaptive force control of a quarter-car AVSS model using model reference adaptive control (MRAC). Sam and Hudha (2006) presented state feedback control of the outer loop together with PI control of the hydraulic actuator force in the inner control loop.…”

Section: Introductionmentioning

confidence: 99%

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Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems

Ekoru

Pedro

2013

J. Zhejiang Univ. Sci. A

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This paper presents the development of a proportional-integral-derivative (PID)-based control method for application to active vehicle suspension systems (AVSS). This method uses an inner PID hydraulic actuator force control loop, in combination with an outer PID suspension travel control loop, to control a nonlinear half-car AVSS. Robustness to model uncertainty in the form of variation in suspension damping is tested, comparing performance of the AVSS with a passive vehicle suspension system (PVSS), with similar model parameters. Spectral analysis of suspension system model output data, obtained by performing a road input disturbance frequency sweep, provides frequency response plots for both nonlinear vehicle suspension systems and time domain vehicle responses to a sinusoidal road input disturbance on a smooth road. The results show the greater robustness of the AVSS over the PVSS to parametric uncertainty in the frequency and time domains.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems

Ekoru

Pedro

2013

J. Zhejiang Univ. Sci. A

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“…Various control strategies such as optimal control [4], nonlinear control [5], robust control [6], adaptive control [7] and intelligent control [8] have been proposed in the past years to control the active suspension system. Most control methods have been used for active suspension systems are optimal control method [9], [10].…”

Section: Introductionmentioning

confidence: 99%

“…Also the actuator itself has the strong non-linear characteristics and the fluctuations of the hydraulic system's parameters are not small, i.e. fluid compressibility, fluid leakage and electrical servo components.Various control strategies such as optimal control [4], nonlinear control [5], robust control [6], adaptive control [7] and intelligent control [8] have been proposed in the past years to control the active suspension system. Most control methods have been used for active suspension systems are optimal control method [9], [10].…”

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confidence: 99%

A New Optimal Nonlinear Approach to Half Car Active Suspension Control

Hassanzadeh¹,

Alizadeh²,

Shirjoposht³

et al. 2010

IJET

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Abstract-In this paper, a nonlinear optimal control law based on a quadratic cost function is developed, and applied on a half-car model for the control of active suspension systems. Nonlinear model of half-car is constructed using the nonlinear dynamics of the electro hydraulic actuator and dynamic characteristics of the dampings and springs. The states of half car model are first estimated by Extended Kalman Filter (EKF) and then the estimated states predicted by Taylor series expansion and finally a control law is introduced by minimizing the local differences between the predicted and desired states. The derived control law has an analytical form which is easy to apply and also it is not required online numerical computations in optimization. Performance of the nonlinear optimal controller is compared to the existing passive suspension system and the proportional integral sliding mode controller. The obtained results demonstrate that use of the proposed nonlinear optimal control technique improves the tradeoff between ride quality and suspension travel compared to the passive suspension system and the proportional integral sliding mode method.Index Terms-nonlinear optimal control, active suspension, nonlinear model, Extended Kalman Filter, proportional integral sliding mode. I. INTRODUCTIONThe important functionality of the vehicle suspension system is to support the vehicle body as well as to provide the riding comfort to the passengers by rejecting the unpleasant vibratory motion induced from the irregular road inputs. Also, the suspension should maintain adequate vertical load to provide the vehicle stability when the car turns, brakes or accelerates [1]. The vehicle stability and riding comfort has mutually adverse effects, therefore, simply the passive damper, which is widely used in the usual vehicle, could not satisfy the riding comfort as well as driving stability simultaneously. To overcome this problem many researchers have proposed to use active suspensions [2]. Unlike passive systems which can only store or dissipate energy, active suspensions can continuously change the energy flow to or from the system when required. Furthermore, characteristics of active suspensions can adapt to instantaneous changes in driving conditions detected by sensors. As a result active suspensions can improve both riding comfort and handling performance to satisfactory levels. (Phone: +98-411-339 3728; fax: +98-411-3300819; e-mail: izadeh@ tabrizu.ac.ir, izadeh@ieee.com).However, as the recent trends of the vehicle industry is to be luxurious and driver comfort is more required, the electrical controlled suspension system is now installed and widely utilized [3]. Especially, the active damper is widely adopted for the luxurious vehicle because it can overcome the shortage of the passive damper by providing the ride comfort and vehicle stability at the same time. In the active suspension system, the sprung mass can vary according to the variation of passenger numbers and cargo as well as fuel loading condition. Also th...

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Robust adaptive control for a class of cascaded nonlinear systems with applications to space interception

Zhang

Duan

Zhou

2013

Intl J Robust & Nonlinear

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SUMMARYThis paper proposes a robust H ∞ ‐based adaptive backstepping control scheme for the output stabilization of a special class of cascaded nonlinear systems. This kind of systems possess the feature that the first sub‐equation is a linear perturbed system, whereas the rest ones perform a general semi‐strict feedback form. Different from the conventional backstepping design approach, the special cascaded structure ensures to introduce the H ∞ technique to the backstepping procedure such that both the robust performance and the robust stability can be simultaneously guaranteed. Within the Lyapunov framework, the proposed control scheme is proved to guarantee (i) the uniformly ultimate boundedness of the system signals with a bound that can be made arbitrarily small by suitably choosing control parameters; (ii) asymptotic output stabilization as long as the uncertain nonlinearities and external disturbances vanish; and (iii) scriptL2‐performance of the closed‐loop system. A space interception scenario is utilized to demonstrate the effectiveness of the proposed control scheme. Copyright © 2013 John Wiley & Sons, Ltd.

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Adaptive robust force control for vehicle active suspensions

Cited by 95 publications

References 14 publications

Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems

Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems

A New Optimal Nonlinear Approach to Half Car Active Suspension Control

Robust adaptive control for a class of cascaded nonlinear systems with applications to space interception

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