Bio-inspired structure reference model oriented robust full vehicle active suspension system control via constraint-following

Abstract

It is hard to realize the bio-inspired structure (BIS) directly in the vehicle suspension due to space limitation, even though the beneficial nonlinearity of BIS for anti-vibration has been extensively proved. This paper adopts active suspension control to take the advantage of BIS on anti-vibration to improve vehicle comfort, i.e., formulating the ideal BIS dynamics model as nonholonomic servo constraints and then designing the control via constraint-following to drive the dynamics of full vehicle active suspension system (FVASS) to follow the servo constraints. It is of novelty for this study to introduce the constraint-following controls (CFC) into the linear FVASS to follow the servo constraints, considering possibly fast time-varying uncertainties including large mismatched portions. The CFC views the nonlinear control problem from a new perspective of servo constraint. This leads to a simple and natural control that is capable of ‘exactly’ following the servo constraints of nonlinear BIS in the second-order form without the requirement of linearization and/or nonlinear cancellation. Furthermore, a robust CFC is designed based on an uncertainty decomposition technique to consider possibly fast time-varying uncertainties including large mismatched portions, which are unavoidable in underactuated systems but are usually ignored or assumed very small in existing studies. The proposed robust CFC is proved to be able to fulfill the control task with controllable constraint-following error by the Lyapunov stability analysis, even in the presence of uncertainties. Experimental and simulation results reveal the validity of the proposed approach in improving vehicle suspension performance.