Authors: Rong Li; Xiao-hong Jiao
Addresses: Institute of Electric Engineering, Yanshan University, Qinhuangdao, 066004, China. ' Institute of Electric Engineering, Yanshan University, Qinhuangdao, 066004, China
Abstract: To deal with parametric uncertainties, external disturbances and uncertain coefficient before control input existing in the hydraulic active suspension systems, a design scheme is proposed for an adaptive controller with disturbance attenuation based on a quarter car suspension model. The adaptive controller is derived by a combination of selecting suitable Lyapunov function and non-linear backstepping control technique. It not only guarantees L2-gain performance for the external disturbance, but also overcomes the effect of parametric uncertainties of hydraulic actuator on the system. Meanwhile, loop nesting due to uncertain parameter before control input of system is solved effectively. Both theoretic demonstration and simulation results illustrate the effectiveness and feasibility of the proposed control scheme. And the comparison with the conventional PID controller indicates the robustness in transient performance, the improvement in ride comfort as well as the enhancement in handling and stability of vehicle.
Keywords: hydraulic active suspension systems; backstepping recursive design; disturbance attenuation; uncertain parameters; ride comfort; hydraulic suspensions; parametric uncertainty; adaptive control; quarter car model; vehicle suspension; loop nesting; vehicle handling; vehicle stability.
International Journal of Modelling, Identification and Control, 2012 Vol.17 No.1, pp.78 - 84
Published online: 19 Aug 2012 *Full-text access for editors Access for subscribers Purchase this article Comment on this article