Extended state observer–based backstepping fast terminal sliding mode control for active suspension vibration

Abstract

In this study, an extended state observer–based backstepping fast terminal sliding mode control is developed for the ride comfort of a full-car active suspension system. In the referred extended state observer–based backstepping fast terminal sliding mode control, the extended state observer is designed to estimate the lumped disturbances of external road excitation and uncertain dynamics. Then, a backstepping fast terminal sliding mode controller is used to track the desired trajectory reference which is obtained via a nonlinear filter. A virtual prototype of vehicle suspension is also built on ADAMS software as the simulated real-time controlled system. The co-simulation results of MATLAB/Simulink+ADAMS show that the proposed controller has better performance than the passive suspension and the active suspension using the traditional backstepping method whether under random road or bumpy road.

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

“…Because some states of the system are not available for measurement such as velocities and accelerations, observers (Asadi et al, 2020; Elhaki and Shojaei, 2020a, 2020b; Li et al, 2020; Ranjbar et al, 2020; Taghieh and Shafiei, 2020; Wang et al, 2020) are reasonable candidates to compensate for the lack of velocity or acceleration sensors. By referring to the literature, one may find that most of the observers rely on the system dynamics which leads to intricacy and complexity in the design procedure (Fetzer et al, 2020; Saleki and Fateh, 2020).…”

Observer-based fixed-time control for nonlinear systems with enhanced nonsingular fast terminal sliding mode

“…And the lumped disturbance estimation of the disturbance observer is compensated in the designed controller. Recently, the disturbance-observer-based control method has been extensively studied (Chen et al,2013; Guo et al, 2017; Mobayen and Javadi, 2016; Nguyen et al, 2020; Tao et al, 2019; Wang et al, 2020; Wei et al, 2009). The continuous TSMC based on disturbance observer was developed for uncertain structural systems in Wei et al (2009).…”

“…Nguyen et al (2020) presented a continuous finite-time SMC strategy based on disturbance observer for nonlinear systems to suppress matched and mismatched disturbances. Wang et al (2020) put forward an extended state observer-based backstepping fast TSMC for active suspension vibration, in which the extended state observer was used to estimate the lumped disturbances. From above literatures, the estimate error can converge to zero asymptotically or in finite time.…”

An implicit discretization-based adaptive reaching law for discrete-time sliding mode control systems

“…In fact, SMC is an area of intense research and the advancement in this field is very fast, especially for continuous-time systems. Many elegant SMC control strategies have been investigated in the field of controller, observer and filter such as terminal sliding mode, fuzzy sliding mode, and higher-order sliding mode (Levant, 2003; Wang et al, 2020; Yu et al, 2021; Zhang and Huang, 2021).…”