Sliding-mode output feedback control for active suspension with nonlinear actuator dynamics

Abstract

The nonlinear dynamics of an actuator are considered during the output feedback control design of a quarter-car active suspension system with uncertainties. Because of the complexity of the suspension system with hydraulic actuator dynamics, a simple and effective sliding-mode strategy is employed to obtain both controller and observer. Instead of dividing the system into an actuator subsystem and a suspension subsystem, the system is repartitioned into a linear subsystem and a nonlinear subsystem, which facilitates controller design greatly. By specifying suitable sliding functions for the two subsystems respectively, and forcing the output of the nonlinear subsystem to track the desired fictitious input of the linear subsystem, the sliding-mode controller is created. By Lyapunov theory, robust stability is analyzed. For linear growth vanishing bounded uncertainties and nonvanishing bounded uncertainties, different observer forms are given to simplify the observer in different situations. Based on the constructed sliding-mode observer, the sliding-mode output feedback control suspension closed-loop system is accomplished. The convergence of observation error is subsequently proved. Simulation results verify the effect of the presented method.