Adaptive Integral Terminal Sliding Mode Control for the Nonlinear Active Vehicle Suspension System under External Disturbances and Uncertainties

Ghadiri, Hamid and Montazeri, Allahyar (2022) Adaptive Integral Terminal Sliding Mode Control for the Nonlinear Active Vehicle Suspension System under External Disturbances and Uncertainties. IFAC-PapersOnLine, 55 (10). pp. 2665-2670. ISSN 2405-8963

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Suspension system is one of the most effective vehicle components that play an essential role in the stability and comfort of the vehicle. The passive suspension can not fully meet a car's stability and comfort requirements. Instead, an active suspension system has been proposed to improve these challenges. Active suspension minimizes the vibrations entering the body using a closed-loop control system. To this end, in this research, an integral terminal sliding mode control (integral TSMC) for an active nonlinear car suspension system under external disturbances and uncertainties is designed. First, the integral TSMC is designed to deal with the uncertainties and the external disturbances in the system when the upper bound is known. Next, an adaptation law is recommended to estimate the upper bound of uncertainties and external disturbances. The results show that the proposed integral TSMC improves the convergence rate and tracking error of the closed-loop system. The stability of the nonlinear control system is investigated and proven using Lyapunov's stability theory. The numerical results indicate a good robust performance and stability for the proposed controller for the nonlinear suspension system with different road profiles in the presence of uncertainties and external disturbances. From the results, it can also be understood that important measures such as ride comfort, road holding, and mechanical structural limitations are met using the proposed approach.

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This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, 10, 2022 DOI: 10.1016/j.ifacol.2022.10.112
?? suspension systemexternal disturbancesintegral terminal sliding mode controladaptive law ??
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13 Dec 2022 16:25
Last Modified:
19 Jan 2024 00:21