Title: Linear-control vs. ADRC for automatic management of the handling-comfort contradiction of a quarter-car system
Authors: Alhelou Muhammed; Wassouf Yazan; Alexander Gavrilov I
Addresses: Department of Control Systems, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation ' Department of Robotic Systems and Mechatronics, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation ' Department of Control Systems, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation
Abstract: This paper investigates managing the comfort-handling trade-off for a quarter car suspension system using linear and active disturbance rejection control (ADRC) laws. First, linear sprung-mass feedback acceleration control law is investigated using a multi-objective genetic algorithm. Second, the nonlinear active disturbance rejection controller (ADRC) is investigated to manage the trade-off manually. Third, an adaptive control law is built to manage the contradiction automatically depending on the ADRC parameters. Finally, the adaptive control law is tested for a non-linear suspension system. Moreover, the performance of the proposed ADRC method is compared with that of the Hybrid-Hook. Furthermore, the effects of road disturbances amplitudes and road quality on the system performance were investigated. Simulation results showed the superiority of the adaptive control law on the other methods for different road surface qualities.
Keywords: ADRC; active disturbance rejection controller; handling; comfort; trade-off; quarter of vehicle; adaptation.
International Journal of Heavy Vehicle Systems, 2022 Vol.29 No.2, pp.145 - 162
Received: 11 Apr 2021
Accepted: 16 Dec 2021
Published online: 07 Sep 2022 *