Disturbance Observer and Tube-based Model Reference Adaptive Control for Active Suspension Systems with Non-ideal Actuators

Abstract

Active suspension systems undertake a vital role in ensuring passengers’ ride comfort and vehicle vibration attenuation. This work proposes a tube-based model reference adaptive control (TMRAC) that identifies a correctional control component at each time instant for performance amplification of active suspension systems with non-ideal actuators. The TMRAC is augmented by a disturbance observer (DO) to compensate for the effects of dead-zone and hysteresis. Closed-loop stability analysis of the developed method is also investigated in the sense of Lyapunov theory. The developed control scheme's feasibility with regard to suspension safety, road handling, and ride comfort is assessed through simulations by using a class C road profile. Comparison results with DO-based conventional MRAC are also conducted. The obtained results demonstrate that the proposed DO-based control strategy provides a superior ride comfort quality and better road disturbance mitigation with less control effort than the conventional method.