Control of active suspension system considering nonlinear actuator dynamics

Kilicaslan, Sinan

doi:10.1007/s11071-017-3951-x

Cited by 32 publications

(28 citation statements)

References 34 publications

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“…which L is the stroke of the hydraulic actuator. In (7), d 1 (t) is regarded as mismatched disturbances, and d 2 (t) is considered as matched disturbances. As seen, all modeling uncertainties are lumped to matched and mismatched disturbances.…”

Section: Aseha System Modelmentioning

confidence: 99%

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Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Zhao

et al. 2020

IEEE Access

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In this paper, an output feedback controller based on a novel sampled-data nonlinear extended state observer (SDNLESO) is proposed for an active suspension electro-hydraulic actuator (ASEHA) system to address the heavy nonlinearities, model uncertainties and sampled-data behavior. The designed controller only requires little prior knowledge about the controlled system for the purpose of position tracking. The SDNLESO, integrating a novel nonlinear extended state observer and an output predictor, is developed to simultaneously and continuously estimate the unmeasurable states and total disturbance for an error dynamic system rather than the original ASEHA system, where the actual discrete displacement tracking error between measurement output and the reference signal serves as the observer input. Then, a compensated controller is synthesized based on the obtained estimates, which is robust against the matched and mismatched disturbances of the system while being able to ensure an expected transient tracking performance and final tracking accuracy. By constructing weighted error system and using the geometric homogeneity theory, the SDNLESO convergence is proven, while the maximum allowable sampling period is derived theoretically for guiding the selection of the actual sampling interval. Moreover, the closedloop system stability and the tracking error exponential convergence are guaranteed within the Lyapunov framework. Finally, a number of practical experiments are carried out on the ASEHA system test platform. The results show that the proposed control method is applicable and valid for nonlinear and uncertain ASEHA system despite the existence of a large actuator area ratio. INDEX TERMS Active suspension elctro-hydraulic actuator (EHA), nonlinearity, output feedback, sampled-data observer, uncertainty.

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Section: Aseha System Modelmentioning

confidence: 99%

“…Then the following error dynamics can be derived according to the ASEHA system (7). e(t) = A e e(t) + B e ϕ(e 2 (t), e…”

Section: A Sdnleso and Control Law Designmentioning

confidence: 99%

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Zhao

et al. 2020

IEEE Access

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“…However, with modern suspensions, which utilize properties of hydraulic fluids or high-pressure gases, the demands are lower. Majority of publications concerned with the vehicle suspension are about active suspension [3][4][5] or fully active suspension (FAS). With FAS, there is a continuous flow of information between all suspension units and ECU along with ABS and all units of the vehicle, which can benefit from the information.…”

Section: Active Suspensionmentioning

confidence: 99%

Specific aspects of active and semi-active suspensions

Maloch

Cornak

2018

Engineering for Rural Development

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Abstract. This paper is concerned with the needs and possibilities of implementing the active and semi-active suspensions for wheeled vehicles of the Army of the Czech Republic (ACR) -for drivetrain configuration 4x4 to 8x8. The computer technology is currently on a very high level, the amount of data computed per second is on steep rise and various processes have a capability to be driven almost real-time. The active suspension is nowadays fully implemented in the highest classes of civil cars, therefore, it is time for the implementation into the demands for modernisation of the wheeled vehicles of ACR. The land relief of central Europe is significantly mountainous, thus the demands for the wheeled vehicles, in terms of overcoming obstacles, are very high. After the application of the active suspension, the mobility and driving comfort of the vehicle are greatly enhanced. Unfortunately, at the cost of increased energy consumption. Therefore, the amount of energy available for the drivetrain is significantly lowered. On the other hand, the amount of energy required by the semi-active suspension is remarkably lower. The mobility and driving comfort are better than a passive suspension. Thus, it is recommendable to use scanning of the land relief in front of the vehicle subsequently controlling the chosen elements of the suspension by suitable algorithms. The aim of this study is to create an analysis of accessible information about the applications and control methods of active and semi-active suspensions. Evaluation of the wide range of possibilities was done with regard to the crew of the vehicle. The crew is facing problems from the fatigue and incidence of motion sickness to the worst case scenario, failure of organs.

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“…1,2 Generally, the key issue of developing controller in active suspensions involves a trade-off between ride quality and road handling stability, which has been a subject of many research literatures. [3][4][5] Therefore, to deal with this issue, a number of control schemes such as adaptive fuzzy control, 6,7 robust H ∞ control, 8 slide mode control, 9,10 and adaptive backstepping control 11,12 have been proposed to improve the vehicle performance in the presence of system uncertainties and to minimize the negative effect of road disturbance on the control system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping‐based control design for uncertain nonlinear active suspension system with input delay

Pang

Yang

et al. 2019

Intl J Robust & Nonlinear

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Summary This paper addresses the control problem of adaptive backstepping control for a class of nonlinear active suspension systems considering the model uncertainties and actuator input delays and presents a novel adaptive backstepping‐based controller design method. Based on the established nonlinear active suspension model, a projector operator–based adaptive control law is first developed to estimate the uncertain sprung‐mass online, and then the desirable controller design and stability analysis are conducted by combining backstepping technique and Lyapunov stability theory, which can not only deal with the actuator input delay but also achieve better dynamics performances and safety constraints requirements of the closed‐loop control system. Furthermore, the relationship between the input delay and the state variables of this vehicle suspension system is derived to present a simple and effective method of calculating the critical input delay. Finally, a numerical simulation investigation is provided to illustrate the effectiveness of the proposed controller.

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Control of active suspension system considering nonlinear actuator dynamics

Cited by 32 publications

References 34 publications

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Specific aspects of active and semi-active suspensions

Adaptive backstepping‐based control design for uncertain nonlinear active suspension system with input delay

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