Abstract
A variable-adaptive-law control algorithm for application to common problems like multi-objective control, actuator output constraints, and suboptimal adaptive laws is proposed in this paper. The multi-objective control problem of a nonlinear suspension is converted to the constrained stability problem of a sprung mass using a quarter nonlinear-suspension model. A variable-adaptive-law controller is then used, along with feedback from the output error, and considering the constraints of the actuator output. The controller modifies the adaptive law to reduce the active control force and restores it to the unsaturated zone. This ensures that the suspension system is always in a controlled state when the output saturation occurs. The controller was simulated for the following two cases: (i) a bump road and (ii) a C-grade road. The analysis is verified by experiments in the end.
Highlights
The suspension system of a vehicle is a nonlinear time-varying system with uncertainties
In the literature mentioned above, regardless of the nature of the damper, whether Magnetorheological damper (MRD), inertia or electromagnetic actuator, the main objective was to reduce the sprung-mass acceleration, and this objective was achieved to a considerable degree as verified by experiments in several cases
It is not enough to reduce the sprung-mass acceleration alone, and active suspension control should be treated as a multi-objective control problem
Summary
The suspension system of a vehicle is a nonlinear time-varying system with uncertainties. ACTIVE CONTROL OF A NONLINEAR SUSPENSION WITH OUTPUT CONSTRAINTS AND VARIABLE-ADAPTIVE-LAW CONTROL. In the literature mentioned above, regardless of the nature of the damper, whether MRD, inertia or electromagnetic actuator, the main objective was to reduce the sprung-mass acceleration, and this objective was achieved to a considerable degree as verified by experiments in several cases. It is not enough to reduce the sprung-mass acceleration alone, and active suspension control should be treated as a multi-objective control problem. According to [22, 23], multi-objective control of the suspension can be approximated as a control problem in which minimization of the sprung-mass acceleration is the primary objective, while the dynamic tire load and suspension space limit are the constraints. There is need for further improvement of suspension control systems
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