This study proposes a novel mass-adaptive control strategy for Continuous Damping Control (CDC) semi-active suspension systems, operating within the feasible range of the CDC damper’s drive current. To facilitate control design, the suspension system characterized by asymmetric saturation is transformed into an equivalent system with symmetric actuator saturation. A current-based piecewise affine (PWA) model combined with the Takagi-Sugeno (T-S) fuzzy method is utilized to address the CDC damper’s nonlinearity. A mass-adaptive fuzzy controller is developed using switched quadratic Lyapunov functions (SQLFs) and optimized for performance. Simulation results show that the proposed controller effectively adapts to variations in vehicle mass: in underloaded conditions, it exhibits soft damping characteristics, while under overloaded conditions, the proportion of damping force in the hard damping region increases by 23.64% compared to underloaded conditions, indicating hard damping characteristics. Bench tests validate its superior performance over existing methods within the operational frequency range.
BasarganHMihályAGáspárP, et al. (eds) (2022) LPV-Fuzzy control approach for road adaptive semi-active suspension system. In 2022 IEEE Intelligent Vehicles Symposium. IEEE, Vol. 2022, pp. 779–784.
2.
BoydSEl GhaouiLFeronE, et al. (1994) Linear Matrix Inequalities in System and Control Theory. SIAM.
3.
CaoYYLinZ (2003) Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation. IEEE Transactions on Fuzzy Systems11(1): 57–67.
4.
DuHZhangN (2008) Fuzzy control for nonlinear uncertain electrohydraulic active suspensions with input constraint. IEEE Transactions on Fuzzy Systems17(2): 343–356.
5.
ElMGiriFChaouiF-Z (2020) Adaptive backstepping control design for semi-active suspension of half-vehicle with magnetorheological damper. IEEE/CAA Journal of Automatica Sinica8(3): 582–596.
6.
Gopala RaoLVVNarayananS (2020) Optimal response of half car vehicle model with sky-hook damper based on LQR control. International Journal of Dynamics and Control8(2): 488–496.
7.
HoCMTranDTAhnKK (2021) Adaptive sliding mode control based nonlinear disturbance observer for active suspension with pneumatic spring. Journal of Sound and Vibration509: 116241.
8.
HoangVNDengFVanCN (2024) Adaptive optimal control system design for semi-active suspension system by supposing variable parameters under exogenous road disturbance. Control Theory and Technology23: 1–10.
9.
HuM-JParkJHChengJ (2021) Robust fuzzy delayed sampled-data control for nonlinear active suspension systems with varying vehicle load and frequency-domain constraint. Nonlinear Dynamics105(3): 2265–2281.
10.
JohanssonM (1999) Piecewise Linear Control Systems. Ph. D. Thesis. Sweden: Lund Institute of Technology.
11.
KaldasMMSÇalışkanKHenzeR, et al. (2013) Rule optimized fuzzy logic controller for full vehicle semi-active suspension. SAE International Journal of Passenger Cars - Mechanical Systems6(2013-01-0991): 332–344.
12.
KarnoppDCrosbyMJHarwoodRA (1974) Vibration control using semi-active force generators. Journal of Engineering for Industry96(2): 619–626.
13.
KimJ-HJabbariF (2002) Actuator saturation and control design for buildings under seismic excitation. Journal of Engineering Mechanics128(4): 403–412.
14.
KimballJBDeBoerBBubbarK (2024) Adaptive control and reinforcement learning for vehicle suspension control. A review. Annual Reviews in Control58: 100974.
15.
LemmensLSchelJ (2006) Booster with Spring to Adapt Air Spring Pressure for Load Dependent Shock Absorber. Google Patents.
16.
MolinaSAde (1998) Adaptive Load Dependent Suspension System. Google Patents.
17.
MoratoMMNormey-RicoJESenameO (eds) (2021) Short-sighted robust LPV model predictive control: application to semi-active suspension systems. In 2021 European Control Conference. IEEE, Vol. 2021, pp. 1525–1530.
18.
MúčkaP (2018) Simulated road profiles according to ISO 8608 in vibration analysis. Journal of Testing and Evaluation46(1): 405–418.
19.
NagarkarMPPatilGVJ (2016) Multi-objective optimization of LQR control quarter car suspension system using genetic algorithm. FME Transactions44(2): 187–196.
20.
NguyenA-TTaniguchiTEciolazaL, et al. (2019) Fuzzy control systems. Past, present and future. IEEE Computational Intelligence Magazine14(1): 56–68.
21.
QingYHongliangZSonglinC, et al. (2023) Designing a Switched Takagi-Sugeno Fuzzy controller for CDC semi-active suspensions with current input constraint. Mechanical Systems and Signal Processing199: 110450.
22.
RodriguesLBoydS (2005) Piecewise-affine state feedback for piecewise-affine slab systems using convex optimization. Systems & Control Letters54(9): 835–853.
23.
SavaresiSMSpeltaC (2006) Mixed sky-hook and ADD: approaching the filtering limits of a semi-active suspension. Journal of Dynamic Systems, Measurement, and Control129(4): 382–392.
24.
SolimanMAKaldasMMSBartonDC, et al. (2012) Fuzzy-skyhook control for active suspension systems applied to a full vehicle model. International Journal of Engineering and Technology Innovation2(2): 85.
25.
TanakaKWangHO (2004) Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach. John Wiley & Sons.
26.
WangRJingHKarimiHR, et al. (2015) Robust fault-tolerant H_{\infty} control of active suspension systems with finite-frequency constraint. Mechanical Systems and Signal Processing62: 341–355.
27.
WuJLiuZChenW (2018) Design of a piecewise affine H_{\infty} controller for MR semiactive suspensions with nonlinear constraints. IEEE Transactions on Control Systems Technology27(4): 1762–1771.
28.
WuJZhouHLiuZ, et al. (2019) A load-dependent PWA- H_{\infty} controller for semi-active suspensions to exploit the performance of MR dampers. Mechanical Systems and Signal Processing127(JUL.15): 441–462.
29.
YuJXieGWangL (eds) (2007) Robust Stabilization of Discrete-Time Switched Uncertain Systems Subject to Actuator Saturation. IEEE.
30.
ZhangZLiangHMaH, et al. (2019) Reliable fuzzy control for uncertain vehicle suspension systems with random incomplete transmission signals and sensor failure. Mechanical Systems and Signal Processing130: 776–789.
31.
ZhangJDingFLiuJ, et al. (2024) Event triggered finite-time adaptive sliding-mode coordinated control of uncertain hysteretic leaf spring suspension with prescribed performance. IEEE Transactions on Intelligent Transportation Systems26(2): 2621–2632.
