Output Feedback Active Suspension Control With Higher Order Terminal Sliding Mode

This paper presents a comprehensive comparison and analysis for the effect of time delay on the five most representative semi-active suspension control strategies, and refers to four unsolved problems related to semi-active suspension performance and delay mechanism that existed. Dynamic characteristics of a commercially available continuous damping control (CDC) damper were first studied, and a material test system (MTS) load frame was used to depict the velocity-force map for a CDC damper. Both inverse and boundary models were developed to determine dynamic characteristics of the damper. In addition, in order for an improper damper delay of the form t+τ to be corrected, a delay mechanism of controllable damper was discussed in detail. Numerical simulation for five control strategies, i.e., modified skyhook control SC, hybrid control (HC), COC, model reference sliding mode control (MRSMC), and integrated error neuro control (IENC), with three different time delays: 5 ms, 10 ms, and 15 ms was performed. Simulation results displayed that by changing control weights/variables, performance of all five control strategies varied from being ride comfort oriented to being road handling oriented. Furthermore, increase in delay time resulted in deterioration of both ride comfort and road handling. Specifically, ride comfort was affected more than road handling. The answers to all four questions were finally provided according to simulation results.

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Semi-active Suspension Control Strategy of High-speed Train Based on Second-order Sliding Mode

10.23919/ccc52363.2021.9550665 ◽

2021 ◽

Author(s):

Xinyue Wang ◽

Deqing Huang

Keyword(s):

Control Strategy ◽

High Speed ◽

Sliding Mode ◽

Active Suspension ◽

Second Order ◽

High Speed Train ◽

Suspension Control ◽

Second Order Sliding Mode

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Higher order sliding mode and adaptive backstepping controllers for a full-car model with active suspension*

2018 European Control Conference (ECC) ◽

10.23919/ecc.2018.8550505 ◽

2018 ◽

Author(s):

Juan J. Ley-Rosas ◽

Jorge E. Ruiz-Duarte ◽

Luis E. Gonzalez-Jimanez ◽

Alexander G. Loukianov

Keyword(s):

Sliding Mode ◽

Active Suspension ◽

Higher Order ◽

Adaptive Backstepping ◽

Car Model

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Higher order sliding mode control for active suspension systems subject to actuator faults and disturbances

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419318762887 ◽

2018 ◽

Vol 233 (2) ◽

pp. 280-298 ◽

Cited By ~ 2

Author(s):

Jinwei Sun ◽

JingYu Cong ◽

Liang Gu ◽

Mingming Dong

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Active Suspension ◽

Second Order ◽

Sliding Mode Controller ◽

Actuator Faults ◽

Terminal Sliding Mode ◽

Mode Control ◽

Fast Terminal Sliding Mode ◽

Second Order Sliding Mode

As the possibility of faults in active suspension actuators are higher and more severe compared to other components, this study presents a fault-tolerant control approach based on the second-order sliding mode control method. The aim of the controller is to improve riding comfort, guarantee handling stability, and provide adequate suspension stroke in the presence of disturbances and actuator faults. A nonlinear full-vehicle suspension system and hydraulic actuator with nonlinear characteristics are adopted for accurate control. Firstly, a nonlinear sliding manifold based on a nonsingular fast terminal sliding mode controller is introduced to suppress the sprung mass heave, pitch, and roll motions arising from road disturbances. Secondly, a second-order sliding mode-based super twisting controller is utilized to track the desired forces generated by the nonsingular fast terminal sliding mode controller with actuator faults and uncertainties. The controllers are robust against disturbances, uncertainties, and faults. Moreover, the stability of the super twisting controller is proved by the strong Lyapunov functions. Finally, numerical simulations are performed to demonstrate the effectiveness of the controller. Four different conditions, random road profile, bump road excitation, single-wheel bump excitation, and partial faults are considered. The main contributions of this study are: (1) combination of the above algorithms to deal with actuator faults and improve active suspension performance; (2) the controller proposed in this study has a simple structure. Simulation results indicate that the nonsingular fast terminal sliding mode super twisting controller can guarantee the performance of the closed-loop system under both faulty and healthy conditions.

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Active Vehicle Suspension with Anti-Roll System Based on Advanced Sliding Mode Controller

Energies ◽

10.3390/en13215560 ◽

2020 ◽

Vol 13 (21) ◽

pp. 5560

Author(s):

Jarosław Konieczny ◽

Marek Sibielak ◽

Waldemar Rączka

Keyword(s):

Ride Comfort ◽

Sliding Mode ◽

Synthesis Method ◽

Active Suspension ◽

Vehicle Suspension ◽

Sliding Mode Controller ◽

Energy Consumption Optimization ◽

Suspension Control ◽

Vertical Displacements ◽

Linear Regulators

In the paper authors consider the active suspension of the wheeled vehicle. The proposed controller consists of a sliding mode controller used to roll reduction and linear regulators with quadratic performance index (LQRs) for struts control was shown. The energy consumption optimization was taken into account at the stage of strut controllers synthesis. The studied system is half of the active vehicle suspension using hydraulic actuators to increase the ride comfort and keeping safety. Instead of installing additional actuators in the form of active anti-roll bars, it has been decided to expand the active suspension control algorithm by adding extra functionality that accounts for the roll. The suggested algorithm synthesis method is based on the object decomposition into two subsystems whose controllers can be synthesized separately. Individual suspension struts are controlled by actuators that use the controllers whose parameters have been calculated with the LQR method. The mathematical model of the actuator applied in the work takes into account its nonlinear nature and the dynamics of the servovalve. The simulation tests of the built active suspension control system have been performed. In the proposed solution, the vertical displacements caused by uneven road surface are reduced by controllers related directly to suspension strut actuators.

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Output feedback continuous terminal sliding mode guidance law for missile-target interception with autopilot dynamics

Aerospace Science and Technology ◽

10.1016/j.ast.2019.01.012 ◽

2019 ◽

Vol 86 ◽

pp. 256-267 ◽

Cited By ~ 13

Author(s):

Zhenhua Zhao ◽

Chuntao Li ◽

Jun Yang ◽

Shihua Li

Keyword(s):

Output Feedback ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Guidance Law ◽

Target Interception

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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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