Control of Active Suspensions with Pump-Controlled Electro-Hydraulic Actuators under Uncertainties and Constraints using Adaptive Dynamic Programming

This paper presents a novel control design for an active quarter-car suspension with pump-controlled electro-hydraulic actuator (EHA) requiring only limited information about the pump-controlled EHA and considering constraints. The control design consists of two parts: force reference generation and force tracking. The force reference is determined by a novel off-policy adaptive dynamic programming (ADP) algorithm ensuring constraints satisfaction. The force tracking is achieved by means of an adaptive robust control (ARC) framework. Closed-loop stability is investigated. Simulation results show the effectiveness of proposed control design.