Terminal sliding mode control for full vehicle active suspension systems

Du, Miaomiao; Zhao, Ding; Yang, Bin; Wang, Lili

doi:10.1007/s12206-018-0541-x

Cited by 43 publications

(25 citation statements)

References 40 publications

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“…We will derive the adaptive law ofĥ 2 in next section. According to equation (42), we can derive the adaptive model compensation term as…”

Section: Sub-loop Arc Controller Designmentioning

confidence: 99%

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Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators

Zhao

et al. 2020

Journal of Low Frequency Noise, Vibration and Active Control

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This study investigates the vibration control issue of active suspension systems. Unlike previous results that neglect the actuator dynamics or consider the impractical symmetrical hydraulic cylinder model, this paper incorporates more reasonable asymmetric electrohydraulic actuator into active suspension system and derives its dynamic model. However, whether active suspension or electrohydraulic actuator suffers from nonlinearities (e.g. nonlinear spring, nonlinear damper and nonlinear actuator dynamics) and parameters uncertainties (e.g. the variations of sprung mass and hydraulic fluid’s bulk modulus as well as hydraulic cylinder original control volumes) , which were rarely synthetically considered in the existing researches.To address these issues, we develop a novel dual adaptive robust controller (ARC). An ARC is firstly designed for main-loop system for stabilizing the car body and improving ride comfort in the presence of nonlinearities and parameter uncertainties as well as road disturbances. In order to meet the constraints requirements of suspension system, the tunable parameters in main-loop control law are optimized by solving linear matrix inequality with kidney-inspired algorithm. Another ARC is further synthesized for sub-loop system to deal with the nonlinear and uncertain dynamics in electrohydraulic actuator for ensuring the force tracking performance. Meanwhile, the uncertain parameters are estimated online to compensate the model deviation. The terminal control law is able to guarantee the asymptotic stability of close-loop system within Lyapunov framework. Finally, the effectiveness and robustness of the proposed controller are demonstrated via excessive simulation experiments over different road conditions.

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“…We will derive the adaptive law ofĥ 2 in next section. According to equation (42), we can derive the adaptive model compensation term as…”

Section: Sub-loop Arc Controller Designmentioning

confidence: 99%

“…In order to further validate the effectiveness of the proposed controller, a random road input approaching to the realistic road is employed. The road displacement is obtained by using white noise filtration method based on the ISO standards, which is described as 25,42…”

Section: Effectiveness Analysismentioning

confidence: 99%

Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators

Zhao

et al. 2020

Journal of Low Frequency Noise, Vibration and Active Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…Suspension systems are designed to reduce the transmission of vibration from road surface disturbances. Semi active and active suspension systems have been more attractive for researchers during the last several decades [1][2][3][4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Control of Electric Wheelchair Suspension System based on Biodynamic Response of Seated Human Body

Saghafi

Hosseinabadi

Khomarian

2020

IJE

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Electric wheelchair is one of the equipment to be used by the incapacitated and disable people. Constant exposure to vibration affects human comfort and health. Reducing the vibrations transmitted to the human body is important in the electric wheelchair design and becomes a healthcare industry demand. This paper deals with the study on vibration control of the electric wheelchair suspension system. A generalized model of the electric wheelchair suspension, including the biodynamic model of seated human body is presented. In order to achieve optimal suspension performance, an active control for wheelchair suspension is designed based on H-infinity control criterion. Numerical simulations are carried out to demonstrate the effectiveness of the proposed wheelchair suspension system. The simulation results show that the proposed control system can effectively attenuate the vibration amplitude and improve the wheelchair suspension performance. This control system could be used for electric wheelchair design and assist with improving human comfort.

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“…Immense attention has been given to vehicle suspension systems in the automobile industry. Suspension systems aim to improve three main contradictory indices that are: suspension deflection, ride ease, and road disturbances [1]. Furthermore, in order to control vehicle body vibration, suspension systems should be capable of adjusting the system energy, retaining the tyre grip and reducing the effect of external disturbances such as braking and steering in this way ride comfort can be enhanced [2,3].…”

Section: Introductionmentioning

confidence: 99%

Comparative Analysis of Different Model-Based Controllers Using Active Vehicle Suspension System

Shahid

Wei

2019

Algorithms

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This paper deals with the active vibration control of a quarter-vehicle suspension system. Damping control methods investigated in this paper are: higher-order sliding mode control (HOSMC) based on super twisting algorithm (STA), first-order sliding mode control (FOSMC), integral sliding mode control (ISMC), proportional integral derivative (PID), linear quadratic regulator (LQR) and passive suspension system. Performance comparison of different active controllers are analyzed in terms of vertical displacement, suspension travel and wheel deflection. The theoretical, quantitative and qualitative analysis verify that the STA-based HOSMC exhibits better performance as well as negate the undesired disturbances with respect to FOSMC, ISMC, PID, LQR and passive suspension system. Furthermore, it is also robust to intrinsic bounded uncertain dynamics of the model.

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Terminal sliding mode control for full vehicle active suspension systems

Cited by 43 publications

References 40 publications

Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators

Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators

Control of Electric Wheelchair Suspension System based on Biodynamic Response of Seated Human Body

Comparative Analysis of Different Model-Based Controllers Using Active Vehicle Suspension System

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