Robust control of vehicle suspension systems with friction non-linearity for ride comfort enhancement

Abstract

Robust controllers are attracting considerable interest in control of dynamic systems due to their capability of eliminating parameterized or unparameterized uncertainties. Therefore, model based robust control law is proposed in this study for ride comfort enhancement and applied on a 7 degree-of-freedom full-car suspension system with friction non-linearity. Inertia, spring and damping forces of the system are modelled with parameterized uncertainties while friction forces and external disturbances are considered as unmodelled dynamics, namely, unparameterized uncertainties. To better understand the effectiveness of proposed controller, a dry friction model that has non-linear characteristics is used for analysis. Closed-loop stability of the system is achieved by using well-known Lyapunov Stability Theorem. To better evaluate the effect of proposed robust controller on ride comfort enhancement with successful road holding, extensive numerical analysis is performed and the results are compared with those of previous similar controller and passive suspension system. The effectiveness of proposed control method has been confirmed. Consequently, satisfactory results have been obtained proving that the ride comfort of a vehicle that has both parameterized and unparameterized uncertainties has been further improved with reasonable power consumption values for a vehicle in terms of economic viability.

Keywords

Robust controller dry friction Lyapunov theory stability ride comfort

Get full access to this article

View all access options for this article.

References

Al Aela

Kenne

Mintsa

(2020) Adaptive Neural Network and Nonlinear Electrohydraulic Active Suspension Control System. London, England: SAGE PublicationsSage UK, pp. 243–259. DOI: 10.1177/1077546320975979.

Burkan

(2013) Design of adaptive compensators for the control of robot manipulators robust to unknown structured and unstructured parameters. Turkish Journal of Electrical Engineering and Computer Sciences 21(2): 452–469. DOI: 10.3906/elk-1108-60.

Burkan

Özgüney

ÖC

Özbek

(2018) Model reaching adaptive-robust control law for vibration isolation systems with parametric uncertainty. Journal of Vibroengineering 20(1): 300–309. DOI: 10.21595/jve.2017.18429.

Corless

Leitmann

(1981) Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems. IEEE Transactions on Automatic Control 26(5): 1139–1144. DOI: 10.1109/TAC.1981.1102785.

Dixit

Agrawal

Misra

(2022) Optimized uncertainty and disturbance estimator based robust controller for micro aerial vehicle. Journal of Computational and Nonlinear Dynamics 11: 111006. DOI: 10.1115/1.4055311.

Franklin

Araújo

Santos

TLM

, et al. (2021) Receptance-based robust stability criteria for second-order linear systems with time-varying delay and unstructured uncertainties. MSSP 149: 107191. DOI: 10.1016/J.YMSSP.2020.107191.

Gao

H-F

Liu

Y-J

(2022) Adaptive tracking event-triggered control of quarter-car bioinspiration active suspension systems. IEEE Transactions on Systems, Man, and Cybernetics: Systems 2021: 1–10. DOI: 10.1109/TSMC.2022.3185286.

Keun-Mo Koo and Jong-Hwan Kim (1994) Robust control of robot manipulators with parametric uncertainty. IEEE Transactions on Automatic Control 39(6): 1230–1233. DOI: 10.1109/9.293183.

Liu

Goldenberg

(1994) Asymptotically stable robust control of robot manipulators. In: Proceedings - IEEE International Conference on Robotics and Automation (pt 4). Publ by IEEE, pp. 2968–2973. DOI: 10.1109/ROBOT.1994.350888.

10.

Liu

Goldenberg

(1996) Uncertainty decomposition-based robust control of robot manipulators. IEEE Transactions on Control Systems Technology 4(4): 384–393. DOI: 10.1109/87.508886.

11.

Marino

Cicirello

(2022) Coulomb friction effect on the forced vibration of damped mass–spring systems. Journal of Sound and Vibration 535: 117085. DOI: 10.1016/J.JSV.2022.117085.

12.

Mirrashid

Alibeiki

Rakhtala

(2022) Nonlinear robust controller design for an upper limb rehabilitation robot via variable gain super twisting sliding mode. International Journal of Dynamics and Control 10: 1–15. DOI: 10.1007/S40435-021-00902-4/TABLES/6.

13.

Mitschke

Wallentowitz

(2004) Dynamik der Kraftfahrzeuge. In: Dynamik der Kraftfahrzeuge. Berlin, Heidelberg: Springer. DOI: 10.1007/978-3-662-06802-1.

14.

Nguyen

Naguen

Kim

(2000) Control of active suspension system by using H ∞ theory. Transection on Control Automation and Systems Engineering 2(1): 1–6.

15.

Sciavicco

Siciliano

(1996) Modeling and Control of Robot Manipulators. New York: McGraw-Hill.

16.

Spong

(1992) On the robust control of robot manipulators. IEEE Transactions on Automatic Control 37(11): 1782–1786. DOI: 10.1109/9.173151.

17.

Tian

Yao

Hang

, et al. (2022) A gain-scheduled robust controller for autonomous vehicles path tracking based on LPV system with MPC and H_∞. In: IEEE Transactions on vehicular technology. New York: Institute of Electrical and Electronics Engineers Inc. DOI: 10.1109/TVT.2022.3176384.

18.

Yabuta

Hidaka

Fukushima

(2007) Effects of Suspension Friction on Vehicle Riding Comfort. Oxfordshire: Taylor & Francis Group, p. 85. DOI: 10.1080/00423118108968641.

19.

Yagiz

Hacioglu

Taskin

(2008) Fuzzy sliding-mode control of active suspensions. IEEE Transactions on Industrial Electronics 55(11): 3883–3890. DOI: 10.1109/TIE.2008.924912.

20.

Zhang

Alleyne

(2003) A new approach to half-car active suspension control. In: Balint

Carty

, et al. (eds), Proceedings of the American Control Conference G. New York: Institute of Electrical and Electronics Engineers Inc., Vol 5, pp. 3762–3767. DOI: 10.2/JQUERY.MIN.JS.

21.

Zuo

Nayfeh

(2004) An Integral Sliding Control for Robust Vibration Isolation and its Implementation. San Diego, CA: SPIE.

22.

Zuo

Slotine

JJE

(2005) Robust vibration isolation via frequency-shaped sliding control and modal decomposition. Journal of Sound and Vibration 285(4–5): 1123–1149. DOI: 10.1016/j.jsv.2004.09.014.

23.

Zuo

Slotine

J-JE

Nayfeh

(2004) Experimental study of a novel adaptive controller for active vibration isolation. In: Proceedings of the 2004 American Control Conference, pp. 3863–3868 vol.4. DOI: 10.23919/ACC.2004.1384515.

24.

Zuo

Slotine

JJE

Nayfeh

(2005) Model reaching adaptive control for vibration isolation. IEEE Transactions on Control Systems Technology 13(4): 611–617. DOI: 10.1109/TCST.2004.841684.

Supplementary Material

Please find the following supplemental material available below.

For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.

For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.

0.00 MB

0.67 MB