NeuroFuzzy Adaptive Control for Full-Car Nonlinear Active Suspension with Onboard Antilock Braking System

Abstract

In this paper, the dynamic behavior of the nonlinear full-car model having active suspensions with nine degrees of freedom including driver, passenger seats and antilock braking system (ABS) is analyzed. The comfort analysis of a driver and passengers of the full car with active suspension model including all forms of nonlinearities is very rare in the literature. The literature also lacks the comfort analysis of the driver and passengers, while the car accelerates and decelerates during cornering. The nonlinearities in the proposed model include the dry friction nonlinearities of the suspension dampers and the geometric nonlinearities of the four corners of the car chassis. Modified adaptive NeuroFuzzy Takagi–Sugeno–Kang (NFTSK) control strategies are presented for the vehicle active suspension control to improve the ride quality, road holding capability and vehicle stability. Separate control strategy is used for ABS to avoid wheel locking and slipping for providing better road–wheel contact. The paper also investigates the coordination of active suspensions and ABS to further enhance the performance of the ABS control. To validate the performance of the proposed intelligent control strategies, the response of the vehicle nonlinear model due to road irregularities is evaluated using various performance indexes. The results are then compared with passive control to verify the performance of modified adaptive NFTSK control.