Coordinated prescribed performance control of uncertain active suspension using a variable parameter ideal reference...

A novel coordinated prescribed performance control scheme based on a variable‑parameter ideal reference model (VP‑IRM) is proposed in this paper to improve ride comfort and balance the inherent conflict between vibration suppression performance and suspension deflection limitations. Firstly, based on the skyhook-groundhook damping force control principle and the Takagi-Sugeno (T-S) fuzzy approximation method, a VP‑IRM is constructed to adaptively adjust the desired motion trajectory of the sprung mass according to real‑time suspension deflection. It not only improves the vibration reduction ability but also makes up for the actual defect that the deflection and control force of the suspension cannot automatically converge to zero when the tire runs on the step road in the existing research. Secondly, inspired by empirical engineering knowledge, a novel coordination function is designed to balance vibration suppression performance and suspension deflection, which avoids the possibility of suspension hitting the vehicle limit block on a large convex hull and ensures the safety of passengers and vehicles. Furthermore, combined with the extended state observer (ESO), an improved prescribed performance controller (IPPC) is proposed to ensure the transient and steady error of the sprung mass motion. Finally, the simulation results under three typical road conditions verify that the control scheme has better ride comfort and lower control energy. Most importantly, the road adaptability of the vehicle is significantly enhanced.