Adaptive Backstepping Tracking Control for Vehicle Semi-active Suspension System with Magnetorheological Damper

doi:10.3969/j.issn.1000-1093.2017.07.023

Abstract

Abstract: As for the control optimization and stability caused by the nonlinearities and uncertainties of vehicle semi-active suspension systems with magnetorheological (MR) damper, a nonlinear dynamics model of one-half vehicle suspension system is established with consideration of the security constraints of comprehensive control objectives for the controlled vehicle semi-active suspension. The tracking error between controlled plant and reference trajectory is constructed, and the corresponding control input functions of controlled plant are designed based on backstepping control method and Lyapunov stability theory. The adaptive control law based on projection operator is investigated, and further a kind of adaptive backstepping controller is developed, which can deal with constraint problem of vehicle suspension system. In order to validate the feasibility and effectiveness of the proposed control algorithm, a control simulation framework of vehicle vibration control system is established based on Matlab/Simulink software, and the proposed adaptive backstepping control algorithm is verified on this control simulation framework under the conditions of random and bump roads. The results show that the proposed control approach has better global asymptotic stability for control stability problem of vehicle semi-active suspension systems, and it can not only obviously improve the performance of ride comfort, but also ensure the various required safety performances of vehicle semi-active suspension.Key

Key words: controlscienceandtechnology, semi-activesuspension, MRdamper, systemuncertainty, adaptivebacksteppingtrackingcontrol, Lypaunovstability

CLC Number:

U463.33⁺1

PANG Hui, CHEN Jia-nan, LIU Kai. Adaptive Backstepping Tracking Control for Vehicle Semi-active Suspension System with Magnetorheological Damper[J]. Acta Armamentarii, 2017, 38(7): 1430-1442.

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第38卷
第7期2017 年7月兵工学报ACTA
ARMAMENTARIIVol.38No.7Jul.2017

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