Design of a coordinated adaptive backstepping tracking control for nonlinear uncertain active suspension system |
| |
| Affiliation: | 1. NBN Sinhgad School of Engineering, Pune, India;2. Tata Consultancy Services, Switzerland;3. College of Engineering, Pune, India;1. School of Mathematics and Physics, Bohai University, Jinzhou 121013, Liaoning, China;2. College of Engineering, Bohai University, Jinzhou 121013, China;3. College of Information Science and Engineering, Northeastern University, Shenyang 110819, China;1. Research Institute of Intelligent Control and System, Harbin Institute of Technology, Harbin 150001, China;2. Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China;3. Hong Kong Polytechnic University Shenzhen Research Institute, Shenzhen, China;4. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, China;2. School of Astronautics, Harbin Institute of Technology, Harbin, China |
| |
| Abstract: | This paper presents a novel adaptive backstepping tracking control for nonlinear uncertain active suspension system, which can achieve the coordinated control over the sprung-mass acceleration and suspension dynamic displacement for nonlinear uncertain active suspension system based on a developing model-reference system. First, according to adaptive backstepping control principle, this model-reference system is designed with purpose of providing the ideal reference trajectories for the sprung-mass displacement and vertical velocity, respectively. Then, the design of a coordinated adaptive backstepping tracking controller is conducted to make the control plant accurately track the prescribed performances of the model-reference system by virtue of the backstepping technique and Lyapunov stability theory, in which a virtual controller with online parameter regulation rules is designed and implemented to guarantee the stability of vehicle body. Finally, a numerical example is provided to verify the effectiveness of our designed adaptive backstepping tracking controller under various operating scenarios. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
