Extended disturbance observer based robust sliding mode control for active suspension system

Abstract

In this paper, the approach of reduced-order extended state observer (RO-ESO) proposed by Zuo and Nayfeh (J Sound Vib 265(2):459–465, 2003) for estimation of un-modeled dynamics and disturbances in the antilock braking system is extended to the half car active suspension system (HCASs). Reduced-order ESO is used to estimate the lumped parametric uncertainties, un-modeled dynamics, and external disturbances affecting the performance of HCASs. Here, the estimation accuracy is further improved by the modification of RO-ESO. Modified and extended disturbance observer (E-DO) is proposed to estimate these lumped disturbances and their derivatives, thus reducing disturbance estimation error. A sliding mode control (SMC) based controller is designed to stabilize the vehicle body’s heave and pitch motion using an active suspension system, resulting in ride comfort improvement with guaranteed suspension space constraint and road holding. The proposed E-DO-based SMC (E-DO-SMC) controller’s effectiveness and robustness is analyzed by MATLAB simulations conducted on two different road excitations. The results obtained are compared with RO-ESO based SMC (RO-ESO-SMC) and passive suspension system.

This is a preview of subscription content, access via your institution.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

References

  1. 1.

    Deshpande VS, Shendge PD, Phadke SB (2013) Active suspension systems for vehicles based on a sliding-mode controller in combination with inertial delay control. Proc Inst Mech Eng, Part D: J Automob Eng 227(5):675–690

    Article  Google Scholar 

  2. 2.

    Yoshimura T, Kume A, Kurimoto M, Hino J (2001) Construction of an active suspension system of a quarter car model using the concept of sliding mode control. J Sound Vib 239(2):187–199

    Article  Google Scholar 

  3. 3.

    Deshpande VS, Mohan B, Shendge P, Phadke S (2014) Disturbance observer based sliding mode control of active suspension systems. J Sound Vib 333(11):2281–2296

    Article  Google Scholar 

  4. 4.

    Phadke SB, Shendge P, Wanaskar VS (2019) Control of antilock braking systems using disturbance observer with a novel nonlinear sliding surface. IEEE Trans Industr Electron 67(8):6815–6823

    Article  Google Scholar 

  5. 5.

    Chaudhari S, Shendge PD, Phadke SB (2020) Disturbance observer based controller under noisy measurement for tracking of nDOF uncertain mismatched nonlinear interconnected systems. IEEE/ASME Trans Mech 25:1600–1611

    Article  Google Scholar 

  6. 6.

    Deshpande V, Phadke S (2012) Control of uncertain nonlinear systems using an uncertainty and disturbance estimator. J Dyn Syst Meas Control 134(2):024501.1-024501.7

    Article  Google Scholar 

  7. 7.

    Zhang BL, Tang GY, Cao FL (2009) Optimal sliding mode control for active suspension systems. In: 2009 International conference on networking, sensing and control, pp 351–356

  8. 8.

    Fialho I, Balas GJ (2002) Road adaptive active suspension design using linear parameter-varying gain-scheduling. IEEE Trans Control Syst Technol 10(1):43–54

    Article  Google Scholar 

  9. 9.

    Rajamani R, Hedrick JK (1995) Adaptive observers for active automotive suspensions: theory and experiment. IEEE Trans Control Syst Technol 3(1):86–93

    Article  Google Scholar 

  10. 10.

    Sunwoo M, Cheok KC, Huang N (1991) Model reference adaptive control for vehicle active suspension systems. IEEE Trans Industr Electron 38(3):217–222

    Article  Google Scholar 

  11. 11.

    Sun W, Zhao Z, Gao H (2012) Saturated adaptive robust control for active suspension systems. IEEE Trans Industr Electron 60(9):3889–3896

    Article  Google Scholar 

  12. 12.

    Lin JS, Huang CJ (2003) Nonlinear backstepping control design of half-car active suspension systems. Int J Veh Des 33(4):332–350

    Article  Google Scholar 

  13. 13.

    Moon SY, Kwon WH (1998) Genetic-based fuzzy control for half-car active suspension systems. Int J Syst Sci 29(7):699–710

    Article  Google Scholar 

  14. 14.

    Wu S.J, Wu C.T, Lee T.T (2005) Neural-network-based optimal fuzzy control design for half-car active suspension systems. In: IEEE proceedings of intelligent vehicles symposium, pp 376–381

  15. 15.

    Mustafa GIY, Wang H, Tian Y (2020) Optimized fast terminal sliding mode control for a half-car active suspension systems. Int J Automob Technol 21(4):805–812

    Article  Google Scholar 

  16. 16.

    Du M, Zhao D, Yang M, Chen H (2020) Nonlinear extended state observer-based output feedback stabilization control for uncertain nonlinear half-car active suspension systems. Nonlinear Dyn 100:2483–2503

    Article  Google Scholar 

  17. 17.

    Xingling S, Honglun W (2015) Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order eso. ISA Trans 57:10–22

    Article  Google Scholar 

  18. 18.

    Zhang J, Sun W, Liu Z, Zeng M (2019) Comfort braking control for brake-by-wire vehicles. Mech Syst Signal Process 133:106255

    Article  Google Scholar 

  19. 19.

    the International Organization for Standardization IO (2010) Mechanical vibration and shock: evaluation of human exposure to whole-body vibration. part 1, general requirements–amendment1 iso 2631-1: 1997/amd 1: 2010

  20. 20.

    Zuo L, Nayfeh S (2003) Low order continuous-time filters for approximation of the iso 2631-1 human vibration sensitivity weightings. J Sound Vib 265(2):459–465

    Article  Google Scholar 

  21. 21.

    Deshpande VS, Shendge PD, Phadke SB (2016) Nonlinear control for dual objective active suspension systems. IEEE Trans Intell Trans Syst 18(3):656–665

    Article  Google Scholar 

  22. 22.

    Mustafa G, Wang H, Tian Y (2019) Model-free adaptive fuzzy logic control for a half-car active suspension system. Stud Inf Control 28(1):13–24

    Article  Google Scholar 

  23. 23.

    Ginoya D, Shendge P, Phadke S (2013) Sliding mode control for mismatched uncertain systems using an extended disturbance observer. IEEE Trans Industr Electron 61(4):1983–1992

    Article  Google Scholar 

  24. 24.

    Deshpande VS, Shendge P, Phadke S (2016) Dual objective active suspension system based on a novel nonlinear disturbance compensator. Veh Syst Dyn 54(9):1269–1290

    Article  Google Scholar 

  25. 25.

    Anon B (1997) Mechanical vibration and shock-evaluation of human exposure to whole-body vibration. International Organization for Standardization, Geneva, p 2631

    Google Scholar 

Download references

Acknowledgements

The authors would like to thank Prof. S. B. Phadke and Prof. P. D. Shendge of the Instrumentation and Control Engineering Department, College of Engineering Pune, India, for providing their valuable support and guidance.

Author information

Affiliations

Authors

Corresponding author

Correspondence to Dhammartna B. Waghmare.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Waghmare, D.B., Asutkar, V.G. & Patre, B.M. Extended disturbance observer based robust sliding mode control for active suspension system. Int. J. Dynam. Control (2021). https://doi.org/10.1007/s40435-021-00761-z

Download citation

Keywords

  • Half car active suspension system
  • Sliding mode control
  • Reduced order extended state observer
  • Extended disturbance observer
  • Ride comfort