期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 64, 期 2, 页码 1392-1403出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2611587
关键词
Active suspension control; higher order sliding mode; output feedback; terminal sliding mode
资金
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education, Science and Technology [NRF-2014R1A1A2A10056145]
- BK21 Plus project - Ministry of Education, Korea [21A20131600011]
The control of an automotive suspension system using hydraulic actuators is a highly complex nonlinear control task dealing with system nonlinearities, external disturbances, and uncertainties. In this work, an output feedback active suspension control scheme is proposed to achieve a ride comfort while maintaining the road holding for the vehicle. To design the controller, the states of the nonlinear system are first estimated using a highgain observer where the suspension stroke is the only measurable output. The controller is then designed using a recursive derivative nonsingular higher order terminal sliding mode approach that avoids singularity. The practical stability for the closed-loop observer-controller pair is established. Simulation results for the quarter-wheel vehicle over various road conditions demonstrate the effectiveness of the proposed control in improving the suspension performance in both the time and frequency domains.
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