Re-adjustable prescribed performance control for uncertain active suspension systems with actuator saturation

Active suspension systems (ASSs) require guaranteed transient performance to suppress road disturbances while ensuring stability. Conventional prescribed performance control (PPC) suffers from rigid performance boundaries, singularity issues, and lack of saturation compensation. This paper proposes a novel re-adjustable prescribed performance (ReAPP) control framework to overcome these limitations. The framework integrates: (i) dynamically adjustable performance boundaries for real-time adaptation, (ii) a singularity-free error transformation mechanism, and (iii) a bounded adaptive saturation compensator. Simulation results under ISO-standard road profiles demonstrate that the ReAPP controller achieves a 61 % reduction in the RMS displacement and a 78 % decrease in the RMS acceleration compared to the passive suspension system. The framework provides robust theoretical guarantees while meeting engineering requirements.