利用有益非线性因素的主动式悬架系统饱和PD-SMC跟踪方法

针对具有输入饱和的主动式悬架系统，通过利用所构建的仿生参考模型的非线性刚度和阻尼，设计了一种新颖的饱和PD−滑模控制方法(饱和PD-SMC方法)。所设计的控制方法具有以下几个优点：具有PD控制方法的简单结构；具有SMC方法针对模型不确定性和外部干扰的强鲁棒性；不需要传统SMC方法所要求的精确系统参数；同时充分考虑输入饱和的影响。在所设计的控制方法中，PD部分用于保证主动式悬架系统的稳定，SMC部分用于提供强鲁棒性，并引入饱和函数防止控制输入超过约束范围。利用李雅普诺夫方法保证了相应的稳定性分析。从多个实验结果可以看出，与现有的控制方法相比，所设计的控制方法显著提高了暂态性能，并节省了30.65%的控制能量。

A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities

Through purposely employing beneficial nonlinear stiffness and damping with a constructed bioinspired reference model, a novel saturated PD with sliding mode control method, (referred to as saturated PD-SMC method), is designed for active suspension systems under saturated control input constraints. The designed control method has several distinct benefits, including the simple structure of PD control method, strong robustness of SMC method with respect to model uncertainties and external disturbances, without requirements of exact system parameters associated with traditional SMC method, as well as taking input constraints into consideration. In the designed control method, the PD part is employed to stabilize the controlled active suspension system, the SMC part is applied to provide strong robustness, and the saturation functions are introduced to prevent the violation of control input constraints. The corresponding stability analysis is provided by Lyapunov techniques. Several experimental results show that, the designed control method dramatically improves transient performance in comparison with some existing methods, including decreasing control energy by 30.65% and improving ride comfort, which can achieve a satisfactory trade-off between costs and results for suspension system control.