This paper introduces a controller consisting of two control loops for an active suspension system to improve the passenger comfort and manipulability of vehicles. The inner loop controls the hydraulic actuator to track a desired actuation force, and the outer loop provides the control force according to the external conditions. In order to alleviate the discontinuous jump in the inner loop, which is caused by the rate of change in the control force, a dynamic sliding-mode controller is proposed in the outer loop. A fuzzy adaptive tuning controller is adopted to improve the robustness and stability of the controller. The simulation results indicate that the proposed controller is more effective and robust in the vibration isolation of the vehicle body than is the linear quadratic Gaussian control approach, a type of conventional sliding-mode controller.
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