An adaptive prescribed performance control based on reference model for active suspension is proposed to address the issues of high energy consumption in active suspension. First, a reference model with quasi zero stiffness (QZS) is designed, and its nonlinear response is utilized as the ideal output of the system. Second, the prescribed performance function (PPF) is applied to guarantee both the transient and steady-state responses. Meanwhile, incorporating sliding mode control (SMC), the designed controller can track the expected trajectory of the reference model. Finally, a disturbance observer is designed to address the system external disturbances, and the asymptotic stability of the system error signals is demonstrated. The simulation results show that under different road excitations, the proposed control method effectively reduces system energy consumption while improving smoothness and operational stability.
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