Saturated Adaptive Robust Control for Active Suspension Systems

被引：366

作者：

Sun, Weichao ^{[1
]}

Zhao, Zhengli ^{[1
]}

Gao, Huijun ^{[1
]}

机构：

[1] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2013年 / 60卷 / 09期

基金：

中国国家自然科学基金;

关键词：

Active suspension system; actuator saturation; adaptive control; robust control; MIMO NONLINEAR-SYSTEMS; H-INFINITY CONTROLLER; HYDRAULIC MANIPULATORS; VEHICLE; DESIGN; ANTIWINDUP; DYNAMICS; DELAY;

D O I：

10.1109/TIE.2012.2206340

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the problem of vibration control in vehicle active suspension systems, whose aim is to stabilize the attitude of the vehicle and improve ride comfort. In response to uncertainties in systems and the possible actuator saturation, a saturated adaptive robust control (ARC) strategy is proposed. Specifically, an antiwindup block is added to adjust the control strategy in a manner conducive to stability and performance preservation in the presence of saturation. Furthermore, the proposed saturated ARC approach is applied to the half-car active suspension systems, where nonlinear springs and piecewise linear dampers are adopted. Finally, the typical bump road inputs are considered as the road disturbances in order to illustrate the effectiveness of the proposed control law.

引用

页码：3889 / 3896

页数：8

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