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Output Feedback Active Suspension Control With Higher Order Terminal Sliding Mode

Abstract : The control of an automotive suspension system using hydraulic actuators is a highly complex nonlinear control task dealing with system nonlinearities, external disturbances, and uncertainties. In this work, an output feedback active suspension control scheme is proposed to achieve a ride comfort while maintaining the road holding for the vehicle. To design the controller, the states of the nonlinear system are first estimated using a highgain observer where the suspension stroke is the only measurable output. The controller is then designed using a recursive derivative nonsingular higher order terminal sliding mode approach that avoids singularity. The practical stability for the closed-loop observer-controller pair is established. Simulation results for the quarter-wheel vehicle over various road conditions demonstrate the effectiveness of the proposed control in improving the suspension performance in both the time and frequency domains.
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Submitted on : Tuesday, November 16, 2021 - 8:20:53 AM
Last modification on : Wednesday, November 17, 2021 - 4:01:19 AM

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Jagat Jyoti Rath, Michael Defoort, Hamid Reza Karimi, Kalyana Chakravarthy Veluvolu. Output Feedback Active Suspension Control With Higher Order Terminal Sliding Mode. IEEE Transactions on Industrial Electronics, Institute of Electrical and Electronics Engineers, 2017, 64 (2), pp.1392-1403. ⟨10.1109/TIE.2016.2611587⟩. ⟨hal-03429982⟩

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