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| Robust decoupled sliding mode control for active suspension systems with prescribed tracking performance |
| JiaweiPeng1,XiaodongShi2,YinlongHu1 |
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| (1 College of Artificial Intelligence and Automation, Hohai University, Changzhou, 213000, Jiangsu, China;2 Nanjing Research Institute of Electronic Engineering, Nanjing, 210000, Jiangsu, China) |
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| 摘要: |
| In this paper, a robust decoupled sliding mode control (RDSMC) is proposed for active suspension system (ASS) to balance the trade-off between ride comfort and road holding. The ASS is decoupled into two subsystems: a sprung-mass subsystem (regarding ride comfort) and an unsprung-mass subsystem (regarding road holding), which correspond to two prescribed performance tracking problems. Subsequently, an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one. To reduce chattering and stabilize the subsystems, a prescribed-time extended disturbance observer (PT-EDO) is designed, achieving the time-varying switching gain RDSMC (TVSG-RDSMC). Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering. |
| 关键词: Active suspension system · Sliding mode control · Prescribed tracking performance · Disturbance observer |
| DOI：https://doi.org/10.1007/s11768-025-00248-8 |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (No. 62173125). |
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| Robust decoupled sliding mode control for active suspension systems with prescribed tracking performance |
| Jiawei Peng1,Xiaodong Shi2,Yinlong Hu1 |
| (1 College of Artificial Intelligence and Automation, Hohai University, Changzhou, 213000, Jiangsu, China;2 Nanjing Research Institute of Electronic Engineering, Nanjing, 210000, Jiangsu, China) |
| Abstract: |
| In this paper, a robust decoupled sliding mode control (RDSMC) is proposed for active suspension system (ASS) to balance the trade-off between ride comfort and road holding. The ASS is decoupled into two subsystems: a sprung-mass subsystem (regarding ride comfort) and an unsprung-mass subsystem (regarding road holding), which correspond to two prescribed performance tracking problems. Subsequently, an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one. To reduce chattering and stabilize the subsystems, a prescribed-time extended disturbance observer (PT-EDO) is designed, achieving the time-varying switching gain RDSMC (TVSG-RDSMC). Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering. |
| Key words: Active suspension system · Sliding mode control · Prescribed tracking performance · Disturbance observer |
