An adaptive modified super-twisting sliding mode controller: Applied to the active suspension system

Jagat Jyoti Rath (1) , Suneel Kumar Kommuri (1) , Kalyana Chakravarthy Veluvolu (1) , Michael Defoort (2) , Sivanagaraja Tatinati (1)

1 KNU - Kyungpook National University [Daegu]
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

A robust higher order sliding mode algorithm combining the merits of the modified super-twisting algorithm and the adaptive super-twisting algorithm has been proposed for a class of nonlinear uncertain systems in this article. For a class of linearly growing perturbations whose upper bounds are not known, the convergence of the sliding dynamics in finite time is proven. To illustrate the effectiveness of the proposed approach, an adaptive robust controller based on the proposed algorithm is developed for the nonlinear active suspension system faced with perturbations from the road surface. Simulation results provided demonstrate the effectiveness of the proposed approach.

Mots clés: "Robustness"; "Nonlinear systems"

Domaines: Automatique / Robotique

Jagat Jyoti Rath, Suneel Kumar Kommuri, Kalyana Chakravarthy Veluvolu, Michael Defoort, Sivanagaraja Tatinati. An adaptive modified super-twisting sliding mode controller: Applied to the active suspension system. 2015 15th International Conference on Control, Automation and Systems (ICCAS), Oct 2015, Busan, South Korea. pp.544-549, ⟨10.1109/ICCAS.2015.7364978⟩. ⟨hal-03413920⟩