Implementation of model-free motion control for active suspension systems

Abstract

Abstract This paper focuses on the implementation of motion control for active suspension systems using a novel scheme of model-free finite-time tracking control method. The proposed strategy facilitates the realization since the system plant modeling is not needed. Correspondingly, the suspension vertical dynamics including external disturbances are estimated by the time-delay estimation, and its estimated error is compensated by the integral sliding mode control scheme. Theoretical analysis proves that the sliding mode and desired system dynamics can achieve a finite time convergence performance with continuous control law. In active suspension control, the continuous control law contributes to preventing the unexpected chattering in practical implementation. The advantage of the presented control algorithm is verified via comparative investigation, especially the comparison of the existing extended state observer-based feedback control scheme, which requires a high-gain observer to realize the desired dynamics. Comparative experimental studies are presented to confirm the effectiveness and superiority of the proposed control strategy over the traditional methods.