Vertical Dynamics Emulation Using a Vehicle Equipped with Active Suspension

A sliding mode theory based chassis controller for vehicle emulation

“…Given the reference signal ξ ref ∈ 3 , this objective is met by designing an outer control loop that will track the desired lift/roll/pitch dynamics. The ABC relies on multi-variable PID control and further information on its design can be found in [10].…”

“…λ 1 , λ 2 and M are positive controller design parameters; and k v , E, V z0 are AHP system dependent parameters [10]. The force controller in (4) takes the trajectories to the sliding manifold σ = 0 in finite time; and both e pz andė pz converge to zero.…”

“…The FC can be modified by removing either or both of the terms includingḋ z , and p z −p s in (5), and suitably choosing the controller gain M . This controller was successfully implemented on the experimental test vehicle [10].…”

“…In the present paper, we examine integrated chassis control (ICC) for the specific problem of vehicle emulation. To this end, we have developed control algorithms to be used for the emulation of lateral [4], [5], and vertical dynamics [10]. These independent designs can be combined properly to mimic the behavior of a desired reference vehicle [11].…”