Sliding-mode output feedback control for active suspension with nonlinear actuator dynamics

Abstract

The nonlinear dynamics of an actuator are considered during the output feedback control design of a quarter-car active suspension system with uncertainties. Because of the complexity of the suspension system with hydraulic actuator dynamics, a simple and effective sliding-mode strategy is employed to obtain both controller and observer. Instead of dividing the system into an actuator subsystem and a suspension subsystem, the system is repartitioned into a linear subsystem and a nonlinear subsystem, which facilitates controller design greatly. By specifying suitable sliding functions for the two subsystems respectively, and forcing the output of the nonlinear subsystem to track the desired fictitious input of the linear subsystem, the sliding-mode controller is created. By Lyapunov theory, robust stability is analyzed. For linear growth vanishing bounded uncertainties and nonvanishing bounded uncertainties, different observer forms are given to simplify the observer in different situations. Based on the constructed sliding-mode observer, the sliding-mode output feedback control suspension closed-loop system is accomplished. The convergence of observation error is subsequently proved. Simulation results verify the effect of the presented method.

Vertical vibration control of an in‐wheel motor‐driven electric vehicle using an in‐wheel active vibration system

“…The OSM manifold function is written as : where P is the unique solution to the matrix Riccati equation in equation .…”

Novel Optimal Design Approach for Output‐Feedback H∞ Control of Vehicle Active Seat‐Suspension System

“…Compared with passive and semi‐active suspension systems, the active suspension system has better performance in vibration attenuation, ride comfort and road holding capability . Therefore, much attention has been given to the study of vehicle active control technologies, such as sliding mode control , adaptive control , fuzzy control , H ∞ control , and output‐feedback control .…”

“…In optimization and static output‐feedback control problems are studied, taking a half‐car active suspension system as an example, while considering some constrained information. Output‐feedback control combined with sliding‐mode for active suspension with nonlinear actuator dynamics is addressed in . The output‐feedback control applied in other fields has also achieved important results .…”

Active Control of Nonlinear Suspension System Using Modified Adaptive Supertwisting Controller

“…Further improvisations to the suspension control under influence of actuator faults and delays were done by providing reliable fuzzy control action in [5]. The control of suspension systems employing the dynamics of hydraulic actuators has also been discussed in the literature in [6][7][8]. In all these approaches the focus was to provide efficient control action to the suspension system ensuring ride quality and road holding at the same time.…”

“…The applications of sliding mode technique in combination with other high gain techniques were further explored in [11]. Sliding mode has been effectively employed to generate control for active suspension systems as discussed in [3,8]. In [8] an output feedback control scheme based on first order sliding mode for an active suspension system faced with actuator nonlinearities and road disturbances was proposed.…”