A New Fuzzy Sliding Mode Controller with a Disturbance Estimator for Robust Vibration Control of a Semi-Active Vehicle Suspension System

Byung-Keun Song,Seung-Bok Choi,Jin-Hee An

doi:10.3390/app7101053

Byung-Keun Song, Seung-Bok Choi + Show 1 more

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https://doi.org/10.3390/app7101053

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Journal: Applied sciences	Publication Date: Oct 13, 2017
Citations: 20	License type: CC BY 4.0

Affiliation: Incheon National University, Inha University

Abstract

This paper presents a new fuzzy sliding mode controller (FSMC) to improve control performances in the presence of uncertainties related to model errors and external disturbance (UAD). As a first step, an adaptive control law is designed using Lyapunov stability analysis. The control law can update control parameters of the FSMC with a disturbance estimator (DE) in which the closed-loop stability and finite-time convergence of tracking error are guaranteed. A solution for estimating the compensative quantity of the impact of UAD on a control system and a set of solutions are then presented in order to avoid the singular cases of the fuzzy-based function approximation, increase convergence ability, and reduce the calculating cost. Subsequently, the effectiveness of the proposed controller is verified through the investigation of vibration control performances of a semi-active vehicle suspension system featuring a magnetorheological damper (MRD). It is shown that the proposed controller can provide better control ability of vibration control with lower consumed power compared with two existing fuzzy sliding mode controllers.

Highlights

In a practical environment, an enhancement of control performances in the presence of uncertainties related to model errors and external disturbance (UAD) is an important issue in various fields, as it affects vibration control in vehicle suspension systems, and the accurate tracking control of robotic systems
The ability to reach the sliding surface and keep system states on this surface indicates the performance quality of the SMC. This ability can be accomplished by integrating the SMC with the fuzzy logics (FL), named, a fuzzy sliding mode controller (FSMC) [27,28,29,30,31]
The effectiveness of the proposed disturbance estimator (DE)-FSMC is validated through a comparative work between the proposed controller and an existing adaptive fuzzy sliding mode controller

Summary

Introduction

An enhancement of control performances in the presence of uncertainties related to model errors and external disturbance (UAD) is an important issue in various fields, as it affects vibration control in vehicle suspension systems, and the accurate tracking control of robotic systems. The ability to reach the sliding surface and keep system states on this surface indicates the performance quality of the SMC. In various systems, this ability can be accomplished by integrating the SMC with the FL, named, a fuzzy sliding mode controller (FSMC) [27,28,29,30,31].

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Conclusion