An active suspension control method based on variable impedance control (VIC) is proposed for the problem of load transfer that seriously affects smooth vehicle behavior under a braking condition. Firstly, the active suspension model of a quarter-vehicle considering load transfer force is established, and the quantitative relationship between the load transfer force and the braking acceleration under braking conditions is established. Secondly, a variable damping impedance controller is designed with adaptive adjustment of the damping coefficient based on the Lyapunov stability theorem II. Finally, the simulation results show that the root mean square (RMS) value of the vehicle body acceleration of the quarter-vehicle suspension of the VIC decreases by 80%–88% compared with the classical impedance control (IC), and the VIC technique is effective and superior in improving suspension performance under the braking condition. Compared with passive suspension, classical IC, and LQR active suspension, the proposed VIC achieves the best overall performance in suppressing the load-transfer-induced body pitching motion while keeping the suspension deflection within the actuator limit.
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