Multiple model adaptive control of a nonlinear active vehicle suspension

Haris, Sallehuddin Mohamed; Aboud, Wajdi S.

doi:10.1109/icamechs.2016.7813438

Cited by 5 publications

(2 citation statements)

References 12 publications

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“…In 2016, multiple model adaptive PID controllers were proposed for four operating mode conditions. They were subjected to a nonlinear mechatronic suspension [16]. In 2020, Liu et al presented a mechanical adaptive control method based on an intelligent neural network model based on the radial basis function neural network model for a multiDOF manipulator [17].…”

Section: Introductionmentioning

confidence: 99%

A Robust Controller Design for Simple Robotic Human Arm

Aboud¹,

Aljobouri²,

Al-Amir³

2022

IJEEI

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Nowadays, the manipulator of two degrees of freedom (2DOF) has many applications. One is a human arm that may be utilized in robotic rehabilitation. The 2DOF controlled robot manipulator usually acts like human arms. This paper aims to design a robust, stable controller for the upper limb robotic model. A sliding mode control (SMC) approach is proposed to realize stability, tracing accuracy, and robustness for 2DOF robotic manipulator. Based on the general manipulator equation of motion, two SMCs are designed. The first is designed according to the input-output stability constraints. The second is designed according to the adaptive law. Not only the trajectory tracking is guaranteed but also stability is ensured. The stability of the controllers is examined based on Lyapunov stability criteria. The controllers and the robotic arm are formulated analytically. The MATLAB platform is adopted to examine and validate the proposed controller's performance. The addition of adaptation law in the SMC scheme improves the results for the two designed controllers and shows remarkable trajectory tracking and system stability as well. The improvement rate shows an enhancement of 40.5% and 36.7% for manipulator joints 1 and 2, respectively.

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Section: Introductionmentioning

confidence: 99%

A Robust Controller Design for Simple Robotic Human Arm

Aboud¹,

Aljobouri²,

Al-Amir³

2022

IJEEI

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“…Therefore, to study the suspension behaviour effectively, it is necessary to consider its nonlinear model and apply it for designing the controller. So far, various nonlinear mathematical models have been developed (Haris & Aboud, 2016;Hassanzadeh et al, 2010;Nagarkar et al, 2016). The models are more or less complex depending on the requirement sets and intended use.…”

Section: Introductionmentioning

confidence: 99%

An adaptive approach for vehicle suspension system control in presence of uncertainty and unknown actuator time delay

Fazeli

Moarefianpur

2021

Systems Science & Control Engineering

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This paper presents an adaptive approach for controlling the nonlinear vehicle suspension system in the presence of unknown delay and limited disturbance. All three factors present in the quarter vehicle suspension model including uncertainty, disturbance and input delay are limited but unknown. This paper dealings a nonlinear model to describe more accurately the behaviour of the suspension and the controller design. To prove stability in the Lyapunov concept, the proposed control method is a combination of backstepping and adaptive approaches. The results of the simulation confirm better active suspension performance regardless of the unknown time delay, disturbances and uncertainty in the nonlinear model.

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