Robust Control of Active Suspensions for a Full Vehicle Model Using Sliding Mode Control.

Yağiz, Nurkan; Yüksek, İsmail; Sivrioğlu, Selim

doi:10.1299/jsmec.43.253

Cited by 34 publications

(20 citation statements)

References 11 publications

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“…considered not only vertical but also pitch and roll motions of a nonlinear 7-DOF vehicle model [16]. They developed a SMC for the active suspension control in a full vehicle.…”

Section: ____________mentioning

confidence: 99%

Active Suspension Control with Direct-Drive Tubular Linear Brushless Permanent-Magnet Motor

Lee

Kim

2009

2009 American Control Conference

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“…considered not only vertical but also pitch and roll motions of a nonlinear 7-DOF vehicle model [16]. They developed a SMC for the active suspension control in a full vehicle.…”

Section: ____________mentioning

confidence: 99%

Active Suspension Control with Direct-Drive Tubular Linear Brushless Permanent-Magnet Motor

Lee

Kim

2009

2009 American Control Conference

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“…This model is a TIL(Time Invariant Linear) model expressed by Equations (4), (5), and (6). However, the model for a walking robot becomes a TVN(Time Variant Nonlinear) model shown as the Eauations (10), (11), and (12), when the robot walks because of dynamic changes in the COG, supported weight, and moment of inertia, and disturbances caused by collisions and slippage between the ground and the leg of the robot.…”

Section: Til Model Becomes Tvn Model When Robot Walksmentioning

confidence: 99%

“…In this study, we treated six-legged walking robot as a study example of the multi-legged walking robot, and proposed a robust control using sliding mode control based on a virtual suspension model for the posture and vibration of the robot to realize the better stability and the better adaptability of it's walking for unknown rough terrain. On the other hand, until now most reported studies on suspension control are performed on the basis of real suspension model with spring and damper (6) (7) . However, for large scale multi-DOF system, such as multi-legged walking robot, it is difficult to equip lots of springs and dampers to it.…”

Section: Introductionmentioning

confidence: 99%

Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot

Huang

Fukuhara

Chen³

2007

JSDD

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In this paper, we proposed a robust control method based on the virtual suspension model for keeping the posture stability and decreasing the tiny vibration of the robot body when it is walking on irregular terrain. Firstly, we developed a six-legged walking robot for this study based on stable theory of wave gaits and CAD dynamic model. Secondly, in order to keep the posture stability of body when robot walks, we designed a virtual suspension model with one degree of freedom, which has virtual spring and damper, for the direction of the center of gravity, the pitch angle, and the roll angle of body respectively. And then, in order to decrease the tiny vibration of body when robot walks, we proposed an active suspension control by using sliding mode control based on a virtual suspension model. These proposed methods are discussed using the walking experimental results of the developed six-legged walking robot.

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“…Therefore, several studies published in the literature related with the control of suspension systems. Yagiz et al [13] proposed a robust control for a nonlinear full vehicle model. Sliding mode control is used for improving the ride comfort.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of a nonlinear half-vehicle suspension system: a hybrid fuzzy logic approach

2011

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Modeling and control of vehicle suspension system are high noteworthy from safety to comfort. In this paper, an analytical nonlinear half-vehicle model which is included quadratic tire stiffness, cubic suspension stiffness, and coulomb friction is derived based on fundamental physics. A hybrid fuzzy logic approach which combines fuzzy logic and PID controllers is designed for reducing the vibration levels of passenger seat and vehicle body. Performances of designed controllers have been evaluated by numerical simulations. Comparisons with classical PID control, Fuzzy Logic Control (FLC) and Hybrid Fuzzy-PID control (HFPID) have also been provided. Results of numerical simulations are evaluated in terms of time histories of displacement and acceleration responses and ride index comparison. A good performance for the Hybrid Fuzzy-PID controller with coupled rules (HFPIDCR) is achieved in simulation studies despite the nonlinearities.

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Robust Control of Active Suspensions for a Full Vehicle Model Using Sliding Mode Control.

Cited by 34 publications

References 11 publications

Active Suspension Control with Direct-Drive Tubular Linear Brushless Permanent-Magnet Motor

Active Suspension Control with Direct-Drive Tubular Linear Brushless Permanent-Magnet Motor

Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot

Modeling and control of a nonlinear half-vehicle suspension system: a hybrid fuzzy logic approach

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