Multi-objective control for uncertain nonlinear active suspension systems |
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| Affiliation: | 1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, China;2. School of Astronautics, Harbin Institute of Technology, Harbin, China;1. Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China;2. School of Electrical and Electronic Engineering, University of Adelaide, SA 5005, Australia;3. College of Engineering and Science, Victoria University, Melbourne, VIC 8001, Australia;1. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia;2. School of Mechanical, Material and Mechatronic Engineering, University of Wollongong, Wollongong, NSW 2522, Australia;3. College of Information Science and Technology, Bohai University, Jinzhou 121013, Liaoning, China;1. NBN Sinhgad School of Engineering, Pune, India;2. Tata Consultancy Services, Switzerland;3. College of Engineering, Pune, India |
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| Abstract: | Performance requirements for vehicle active suspensions include: (a) ride comfort, which means to isolate the body as far as possible from road-induced shocks and vibrations to provide comfort for passengers; (b) road holding, which requires to suppress the hop of the wheels for the uninterrupted contact between wheels and road; and (c) suspension movement limitation, which is restricted by the mechanical structure. In view of such situations, plus the parametric uncertainties, this paper suggests a constrained adaptive backstepping control scheme for active suspensions to achieve the multi-objective control, such that the resulting closed-loop systems can improve ride comfort and at the same time satisfy the performance constraints in the presence of parametric uncertainties. Compared with the classic Quadratic Lyapunov Function (QLF), the barrier Lyapunov function employed in this paper can achieve a less conservatism in controller design. Finally, a design example is shown to illustrate the effectiveness of the proposed control law, where different initial state values are considered in order to verify the proposed approach in detail. |
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| Keywords: | Active suspension system Adaptive control Backstepping control Performance constraints |
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