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Jiawei Peng1,Xiaodong Shi2,Yinlong Hu1.[en_title][J].Control Theory and Technology,2025,23(2):310~320.[Copy]
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Robust decoupled sliding mode control for active suspension systems with prescribed tracking performance
JiaweiPeng1,XiaodongShi2,YinlongHu1
0
(1 College of Artificial Intelligence and Automation, Hohai University, Changzhou, 213000, Jiangsu, China;2 Nanjing Research Institute of Electronic Engineering, Nanjing, 210000, Jiangsu, China)
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
基金项目:This work was supported by the National Natural Science Foundation of China (No. 62173125).
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