IEEE Trans Cybern. 2022 Oct;52(10):10089-10100. doi: 10.1109/TCYB.2021.3069632. Epub 2022 Sep 19.
This article proposes a novel control framework for active suspension systems by purposely employing beneficial nonlinearity and a useful disturbance effect for control performance enhancement. To this aim, a novel amplitude-limited PD-SMC control scheme is established to ensure a stable performance-oriented tracking control of the overall closed-loop system. Importantly, different from most existing control methods, the designed tracking controller purposely employs beneficial nonlinear stiffness and damping of a novel bioinspired reference model and deliberately utilizes useful disturbance response on the active suspension system, so as to improve the convergence speed and reduce control energy cost simultaneously. The asymptotic stability is theoretically proved by a rigorous Lyapunov-based analysis. To the best of our knowledge, this is a unique control scheme for active suspension systems which can technically take several critical control practice issues into account with guaranteed excellent performance simultaneously, including energy savings, actuator saturation, unexpected disturbances, etc. The superior performance is well validated with a series of experiments, and carefully compared to several existing control methods. The results of this study would definitely present a unique insight and an alternative approach to active controller designs via exploiting beneficial nonlinear and disturbance effects for better control performance and lower energy cost simultaneously.
本文提出了一种通过有意利用有益的非线性和有用的干扰效应来提高控制性能的主动悬架系统的新型控制框架。为此，建立了一种新颖的限幅 PD-SMC 控制方案，以确保整体闭环系统的稳定性能导向跟踪控制。重要的是，与大多数现有控制方法不同，所设计的跟踪控制器有意利用新型仿生参考模型的有益非线性刚度和阻尼，并故意利用主动悬架系统上的有用干扰响应，从而同时提高收敛速度和降低控制能量成本。通过严格的基于 Lyapunov 的分析理论证明了渐近稳定性。据我们所知，这是一种主动悬架系统的独特控制方案，可以同时考虑到技术上的几个关键控制实践问题，并保证卓越的性能，包括节能、执行器饱和、意外干扰等。通过一系列实验对其优越的性能进行了很好的验证，并与几种现有的控制方法进行了仔细的比较。这项研究的结果肯定会为通过利用有益的非线性和干扰效应来同时获得更好的控制性能和更低的能量成本来设计主动控制器提供独特的见解和替代方法。
