Adaptive backstepping-based tracking control design for nonlinear active suspension system with parameter...

Area of Science:

• Control Systems Engineering
• Automotive Engineering
• Nonlinear Dynamics

Background:

• Active suspension systems are crucial for vehicle dynamics.
• Parameter uncertainties and safety constraints pose challenges in nonlinear active suspension control.
• Existing controllers may not fully address both safety and performance.

Purpose of the Study:

• To propose a novel constraint adaptive backstepping based tracking controller for nonlinear active suspension systems.
• To ensure safety performance requirements while improving riding comfort and handling stability.
• To achieve finite-time tracking of predefined reference trajectories.

Main Methods:

• Introduction of virtual control input and reference trajectories.
• Development of adaptive control law using backstepping technique and Lyapunov stability theory.
• Stability analysis of the zero dynamics error system.

Main Results:

• The proposed controller stabilizes vertical and pitch motions of the vehicle body.
• Finite-time tracking of reference trajectories is achieved.
• Safety performance indicators are demonstrated to be bounded and estimable.

Conclusions:

• The novel constraint adaptive backstepping controller effectively enhances active suspension performance.
• The controller ensures safety requirements and improves ride comfort and handling stability.
• Numerical simulations validate the controller's effectiveness and superiority over classical methods.