IEEE Trans Cybern. 2022 Jul;52(7):6244-6254. doi: 10.1109/TCYB.2020.3042613. Epub 2022 Jul 4.
In this article, an adaptive sliding-mode control scheme is developed for a class of uncertain quarter vehicle active suspension systems with time-varying vertical displacement and speed constraints, in which the input saturation is considered. The integral terminal SMC is adopted to improve convergence accuracy and avoid singular problems. In addition, neural networks are used to model unknown terms in the system and the backstepping technique is taken into account to design the actual controller. To guarantee that the time-varying state constraints are not violated, the corresponding Barrier Lyapunov functions are constructed. At the same time, a continuous differentiable asymmetric saturation model is developed to improve the stability of the system. Then, the Lyapunov stability theory is used to verify that all signals of the resulting system are semi globally uniformly ultimately bounded, time-varying state constraints are not violated, and error variables can converge to the small neighborhood of 0. Finally, results of the simulation of the designed control strategy are given to further prove the effectiveness.
本文针对一类具有时变垂直位移和速度约束的不确定四分之一车辆主动悬架系统，设计了一种自适应滑模控制方案，其中考虑了输入饱和。采用积分终端 SMC 提高收敛精度，避免奇异问题。此外，利用神经网络来模拟系统中的未知项，并采用反推技术来设计实际控制器。为了保证时变状态约束不被违反，构建了相应的障碍李雅普诺夫函数。同时，开发了一个连续可微的非对称饱和模型，以提高系统的稳定性。然后，利用李雅普诺夫稳定性理论验证了所得到的系统的所有信号都是半全局一致最终有界的，时变状态约束不被违反，误差变量可以收敛到 0 的小邻域内。最后，给出了所设计控制策略的仿真结果，进一步证明了其有效性。
