An adaptive sliding controller is proposed in this article to control the active suspension systems of a quarter-car model with hydraulic actuator. The highly nonlinear actuator dynamics is assumed to have some time-varying uncertainties with unknown bounds. Owing to its time-variant nature, traditional adaptive designs are not feasible. As the variation bounds are not given, the conventional robust controllers cannot be applied either. In this article, we use the function approximation technique to represent the uncertainties with finite combinations of some basis functions, and the Lyapunov method is employed to find update laws for the coefficients of the approximating series. The actuator force can track the desired force generated from the skyhook dynamics with ultimately bounded performance. If a sufficient number of basis functions are used and the approximation error can be ignored, asymptotic convergence performance can be proved. If the bound of the approximation error is available, asymptotic convergence of the output error still can be obtained with some modifications of the proposed control law. Simulation results show that the controller proposed can give significant improvement of ride comfort when compared with the performance of its passive counterpart.


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    Title :

    Adaptive sliding control of active suspension systems with uncertain hydraulic actuator dynamics


    Contributors:

    Published in:

    Vehicle System Dynamics ; 44 , 5 ; 357-368


    Publication date :

    2006


    Size :

    12 Seiten, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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