Optimization of the New Index Reaching Law of the Active Suspension Sliding Mode Controller Based on the Cuckoo Search Algorithm

To facilitate the performance of the active suspension system, the optimization of a new reaching law of the active suspension sliding mode controller based on cuckoo algorithm is addressed in this paper. Firstly, a linear model of the active suspension system is built. Then, according to the features of the new exponential reaching law, an active sliding mode control scheme based on the new sliding mode reaching law is designed. Finally, the simulation results are separated into two stages to verify the suitability and superiority of the proposed control scenario.

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Adaptive Backsteeping SMC with Cuckoo Search Algorithm for Two Wheeled Self Balancing Robot

International Journal of Engineering & Technology ◽

10.14419/ijet.v7i3.13.16318 ◽

2018 ◽

Vol 7 (3.13) ◽

pp. 27

Author(s):

Asst. Pro.Dr.Ekhlas H.Karam ◽

Noor. M.Mjeed

Keyword(s):

Mobile Robot ◽

Sliding Mode ◽

Search Algorithm ◽

External Disturbance ◽

Cuckoo Search ◽

Cuckoo Search Algorithm ◽

Switching Function ◽

Sliding Mode Controller ◽

Inference System ◽

Model Dependency

In this paper, a robust Radial Basis Function (RBF) Backstepping Sliding Mode controller (BS-SMC) is successfully developed for the attitude stabilization and tracking the trajectory of two wheeled self-balancing mobile robot under the external disturbance and uncertainty. The design of BS control is derived based on Lyapunov function to ensure the stability of the robot system and the SMC is designed with a switching function in order to attenuate the effects of the disturbances, the auto-adjustable RBF inference system is suggested to estimate the equivalent component of the BS-SMC to treat the model dependency problem and robustness improvement. Also a cuckoo search (CS) optimization algorithm is used to determine the optimal values of the backsteeping sliding mode controller. Numerical simulations show the efficiency of the suggested controller in handling the balance and tracking problems of the two wheeled self-balancing mobile robot

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The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.216.96 ◽

2011 ◽

Vol 216 ◽

pp. 96-100

Author(s):

Jing Jun Zhang ◽

Wei Sha Han ◽

Li Ya Cao ◽

Rui Zhen Gao

Keyword(s):

Control Method ◽

Simulation Analysis ◽

Reference Model ◽

Sliding Mode ◽

Tracking Error ◽

Active Suspension ◽

Suspension System ◽

Sliding Mode Controller ◽

Error Dynamics ◽

Dynamic Quality

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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Study on Active Suspension with Variable Structure Control Based on the Fractional Order Exponential Reaching Law

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.872.337 ◽

2017 ◽

Vol 872 ◽

pp. 337-345

Author(s):

Yan Dong Chen

Keyword(s):

Fractional Order ◽

Reference Model ◽

Sliding Mode ◽

Variable Structure Control ◽

Variable Structure ◽

Active Suspension ◽

Mode Switching ◽

Structure Control ◽

Reaching Law ◽

Exponential Reaching Law

Based on the dynamic model of 1/4 vehicle suspension, an active control system is designed using the fractional order exponential reaching law of model following variable structure control strategy. An active suspension with linear quadratic optimal control is used as the reference model. The sliding mode switching surface parameters is designed by pole placement method to ensure the stability of the system. At the same time, combined with the index reaching law proposed by Professor Gao Wei Bing and the definition and properties of fractional index, constructs a similar fractional order exponent reaching law to improve the dynamic quality of sliding mode motion. And in MATLAB, system modeling and controller design are implemented. By setting up experiments, the different suspensions are compared. The results show that compared with the passive suspension, the performance of the vehicle can be improved better, and the performance of the tracking reference model has good tracking performance. Moreover, compared with the integral exponential reaching law, the chattering can be more effectively weakened. Finally, before and after the change of vehicle parameters in the simulation, the results show that the system has good robustness.

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