Strongly perturbed sliding mode adaptive control of vehicle active suspension system considering actuator nonlinearity

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

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An Active Suspension System of Quarter Car Models Using Sliding Mode Controller. (Design of Controller Using Minimum-Order Observer).

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C ◽

10.1299/kikaic.66.468 ◽

2000 ◽

Vol 66 (642) ◽

pp. 468-475 ◽

Cited By ~ 3

Author(s):

Masao KURIMOTO ◽

Toshio YOSHIMURA ◽

Junichi HINO

Keyword(s):

Controller Design ◽

Sliding Mode ◽

Active Suspension ◽

Suspension System ◽

Sliding Mode Controller ◽

Minimum Order ◽

Quarter Car

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Performance analysis of MR damper based semi-active suspension system using optimally tuned controllers

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211004467 ◽

2021 ◽

pp. 095440702110044

Author(s):

Gurubasavaraju Tharehalli mata ◽

Vijay Mokenapalli ◽

Hemanth Krishna

Keyword(s):

Pid Controller ◽

Ride Comfort ◽

Sliding Mode ◽

Dynamic Performance ◽

Parametric Method ◽

Mr Damper ◽

Active Suspension ◽

Suspension System ◽

Sliding Mode Controller ◽

Road Excitation

This study assesses the dynamic performance of the semi-active quarter car vehicle under random road conditions through a new approach. The monotube MR damper is modelled using non-parametric method based on the dynamic characteristics obtained from the experiments. This model is used as the variable damper in a semi-active suspension. In order to control the vibration caused under random road excitation, an optimal sliding mode controller (SMC) is utilised. Particle swarm optimisation (PSO) is coupled to identify the parameters of the SMC. Three optimal criteria are used for determining the best sliding mode controller parameters which are later used in estimating the ride comfort and road handling of a semi-active suspension system. A comparison between the SMC, Skyhook, Ground hook and PID controller suggests that the optimal parameters with SMC have better controllability than the PID controller. SMC has also provided better controllability than the PID controller at higher road roughness.

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Backstepping sliding-mode control for active suspension system matching mechanical elastic wheel with uncertainties

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211061031 ◽

2021 ◽

pp. 095440702110610

Author(s):

Tao Xu ◽

Youqun Zhao ◽

Fen Lin ◽

Qiuwei Wang

Keyword(s):

Sliding Mode Control ◽

Control Strategy ◽

Sliding Mode ◽

Active Suspension ◽

Suspension System ◽

Integral Sliding Mode Control ◽

Mode Control ◽

Elastic Wheel ◽

Backstepping Sliding Mode Control ◽

Mechanical Elastic Wheel

For the purpose of anti-puncture and lightweight, a new type of mechanical elastic wheel (MEW) is constructed. However, the large radial stiffness of MEW has a negative effect on ride comfort. To make up for the disadvantage, this paper proposes a novel control strategy consisting of backstepping control and integral sliding-mode control, considering the uncertainties of active suspension and MEW. First, an active suspension system matching MEW is established, discussing the impact of uncertainties. The nonlinear radial characteristic of MEW is fitted based on the previous experiment results. Then, in order to derive ideal motions, an ideal suspension system combining sky-hook and ground-hook damping control is introduced. Next, ignoring the nonlinear characteristics and external random disturbance, a backstepping controller is designed to track ideal variables. Combined with the backstepping control law, an integral sliding-mode control strategy is given, further taking parameter uncertainty and external disturbance into account. To tackle chattering problem, an adaptive state variable matrix is applied. By using Lyapunov stability theory, the whole scheme proves to be robust and convergent. Finally, co-simulations with Carsim and MATLAB/Simulink are carried out. By analyzing the simulation results, it can be concluded that the vehicle adopting backstepping sliding-mode control performs best, with excellent real-time performance and robustness.

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Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406219883304 ◽

2019 ◽

Vol 234 (2) ◽

pp. 501-511

Author(s):

Amirhossein Kazemipour ◽

Alireza B Novinzadeh

Keyword(s):

Control Strategy ◽

Control Method ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Active Suspension ◽

Suspension System ◽

Terminal Sliding Mode ◽

Car Suspension ◽

Suspension Model

In this paper, a control system is designed for a vehicle active suspension system. In particular, a novel terminal sliding-mode-based fault-tolerant control strategy is presented for the control problem of a nonlinear quarter-car suspension model in the presence of model uncertainties, unknown external disturbances, and actuator failures. The adaptation algorithms are introduced to obviate the need for prior information of the bounds of faults in actuators and uncertainties in the model of the active suspension system. The finite-time convergence of the closed-loop system trajectories is proved by Lyapunov's stability theorem under the suggested control method. Finally, detailed simulations are presented to demonstrate the efficacy and implementation of the developed control strategy.

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A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems

Journal of Vibration and Control ◽

10.1177/1077546319890747 ◽

2019 ◽

Vol 26 (11-12) ◽

pp. 952-964 ◽

Cited By ~ 2

Author(s):

Wu Qin ◽

Wen-Bin Shangguan ◽

Kegang Zhao

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Active Suspension ◽

Suspension System ◽

Suspension Systems ◽

Mode Control ◽

Active Suspension Systems ◽

Mass Displacement ◽

The Impact

Based on a nonlinear two-degree-of-freedom model of active suspension systems, an approach of the sliding mode control with disturbance observer combining skyhook model sliding mode control with disturbance observer combining is proposed for improving the performance of active suspension systems, and the effectiveness of the proposed approach is validated by the active suspension system plant. Two problems of active suspension systems are solved by using the proposed approach when the tire is excited by the step displacement. One problem is that the suspension deflection of active suspension systems, i.e. the difference between the sprung mass displacement and the unsprung mass displacement, using conventional sliding mode control with disturbance observer not converges to zero in finite time, and the phenomenon of the impact of suspension against the limit block is produced. This problem is solved by providing a reference value of the sprung mass displacement in an active suspension system, which is obtained from the skyhook model. The other problem is that disturbances exist in active suspension systems, which are caused by the inaccurate parameters of stiffness and damping. This problem is solved by designing a disturbance observer to estimate the summation of the disturbances. Finally, the performance indexes of the active suspension system with the sliding mode control with disturbance observer combining skyhook model are calculated and compared with those of using the conventional sliding mode control with disturbance observer and the linear quadratic regulator approach.

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