Title: Constrained robust adaptive control for vehicle active suspension systems

Authors: Huihui Pan; Weichao Sun; Huijun Gao; Tasawar Hayat; Fuad Alsaadi

Addresses: State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, China ' State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, China ' State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, China; Faculty of Engineering, Department of Electrical and Computer Engineering, King Abdulaziz University(KAU), Jeddah 21589, Saudi Arabia ' Faculty of Engineering, Department of Electrical and Computer Engineering, King Abdulaziz University (KAU), Jeddah 21589, Saudi Arabia; Department of Mathematics, Quaid-I-Azam University, Islamabad 45320, Pakistan ' Faculty of Engineering, Department of Electrical and Computer Engineering, King Abdulaziz University (KAU), Jeddah 21589, Saudi Arabia

Abstract: In this paper, a constrained robust adaptive control strategy is presented for active suspension systems in the presence of non-symmetric input saturations, whose objective is to stabilise the attitude of the vehicle and improve ride comfort. In particular, by means of command filtering idea, an auxiliary system is constructed to reduce the negative effects caused by possible saturations, and the following stability proof ensures the theoretical strictness. Furthermore, the proposed constrained robust adaptive control approach is applied to a quarter-car active suspension system, where nonlinear spring and piecewise linear damper are adopted. Finally, a numerical example simulation with typical periodic road input is conducted to verify the effectiveness of the theoretic results obtained.

Keywords: adaptive control; active suspension systems; input saturation; robust control; vehicle suspension; vehicle stability; ride comfort; nonlinear springs; piecewise linear dampers; numerical simulation.

DOI: 10.1504/IJVD.2015.071066

International Journal of Vehicle Design, 2015 Vol.68 No.1/2/3, pp.5 - 21

Received: 04 Jan 2014
Accepted: 16 May 2014
Published online: 11 Aug 2015 *

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