Title: Adaptive backstepping discrete-time control for a full-car active suspension

Authors: Toshio Yoshimura

Addresses: The University of Tokushima, Minamijosanjima 2-1, Tokushima 770-8506, Japan

Abstract: This paper presents a simplified Adaptive Backstepping Control (ABC) in the design of an active suspension for a full-car model with unknown external disturbances. It is assumed that the full-car models are described by an uncertain discrete-time state equation, and that the observation of the states is taken with measurement noises. The proposed ABC is designed in a simplified structure by removing the repeated heavy computation of non-linear functions, and the design parameters are selected by using an appropriate Lyapunov function. The unmeasurable states and uncertainties for the uncertain discrete-time state equations are estimated by using the simplified weighted least squares estimator. The simulation experiment indicates that the proposed ABC is suitable for the design of the active suspension for the full-car model because it suppresses the movement of the car body and the suspension travel, and improves the ride comfort of passengers.

Keywords: adaptive backstepping control; virtual control; full-car model; discrete-time system; non-physical model; simplified weighted least squares estimator; active suspension; unknown road disturbance; Lyapunov function; ride comfort; simulation.

DOI: 10.1504/IJVAS.2017.083513

International Journal of Vehicle Autonomous Systems, 2017 Vol.13 No.3, pp.221 - 243

Received: 12 Jan 2016
Accepted: 07 Dec 2016
Published online: 08 Apr 2017 *

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