Pang Hui, Zhang Xu, Xu Zeren
School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, 710048, China.
School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, 710048, China.
ISA Trans. 2019 May;88:23-36. doi: 10.1016/j.isatra.2018.11.047. Epub 2018 Dec 6.
This paper proposes a novel constraint adaptive backstepping based tracking controller for nonlinear active suspension system with parameter uncertainties and safety constraints. By introducing the virtual control input and reference trajectories, the adaptive control law is developed to stabilize both of the vertical and pitch motions of vehicle body using backstepping technique and Lyapunov stability theory, and further to track the predefined reference trajectories within a finite time, which not only ensure the safety performance requirements, but also achieve improvements in riding comfort and handling stability of vehicle active suspension system. Next, the stability analysis on zero dynamics error system is conducted to ensure that all the safety performance indicators are all bounded and the corresponding upper bounds are estimable. Finally, a numerical simulation is provided to verify the effectiveness of the proposed controller and to address the comparability between the classical Barrier-Lyapunov Function based adaptive tracking controller and the proposed controller.
本文针对具有参数不确定性和安全约束的非线性主动悬架系统，提出了一种基于约束自适应反步的新型跟踪控制器。通过引入虚拟控制输入和参考轨迹，利用反步技术和李雅普诺夫稳定性理论，设计了自适应控制律，以稳定车身的垂直和俯仰运动，并在有限时间内跟踪预定义的参考轨迹，这不仅确保了安全性能要求，还提高了车辆主动悬架系统的乘坐舒适性和操纵稳定性。接下来，对零动态误差系统进行稳定性分析，以确保所有安全性能指标均有界且相应的上界可估计。最后，通过数值仿真验证了所提控制器的有效性，并探讨了基于经典障碍李雅普诺夫函数的自适应跟踪控制器与所提控制器之间的可比性。
