Nonlinear tracking control based on extended state observer for vehicle active suspensions with performance constraints |
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| Affiliation: | 1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, China;2. Faculty of Science, King Abdulaziz University, Jeddah, Saudi Arabia;1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics & Astronautics, Beijing 100191, China;2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics & Astronautics, Beijing 100191, China;3. Beijing Aerospace Automatic Control Institute, Beijing 100854, China;4. National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100854, China;5. Department of Automation, Nankai University, Tianjin 300071, China;1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PR China;2. School of Mechanical Engineering, Guilin University of Electronic Technology, Guilin, 541004, PR China;3. School of Mechanical Engineering, Guilin University of Aerospace Technology, Guilin, 541004, PR China |
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| Abstract: | In this paper, a nonlinear tracking control strategy with extended state observer (ESO) is presented for vehicle active suspensions to improve the ride comfort, where suspension spaces, dynamic tire loads are considered as time-domain constraints to be guaranteed. The unique characteristic of the proposed approach lies in the independence on accurate mathematical model. More exactly, the unknown dynamics and external disturbances of the vehicle suspension are regarded as an augmented state of the system and are estimated using the designed ESO. The stability analysis shows that both the estimation error and the tracking error of the control output are bounded and that the upper bounds of the errors monotonously decrease with the increase of the observer bandwidth. Finally, a competitive experiment on a quarter-car suspension prototype is given to demonstrate the effectiveness of the proposed control schemes. |
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| Keywords: | Active suspension system Extended state observer Nonlinear tracking control Performance constraints |
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