Robust adaptive control of an active vehicle suspension system

Abstract

This paper describes the development of an adaptive control scheme for an active vehicle suspension system. The proposed scheme comprises a variant of the self-tuning pole assignment algorithm and a simple fuzzy logic gain scheduling controller. In this work, the active suspension problem is interpreted as one of regulation and setpoint tracking and, as a consequence, combined ride and levelling control is realized. Simulation results for a quarter vehicle model indicate that ride performance benefits can be achieved in parallel with levelling control capabilities. Moreover, it is shown that this scheme retains good control performance even in the presence of vehicle configuration uncertainties and road disturbance changes.