Anti-Saturation-Based Adaptive Sliding-Mode Control for Active Suspension Systems With Time-Varying Vertical Displacement and Speed Constraints

Hao Chen, Yan Jun Liu, Lei Liu, Shaocheng Tong, Zhiwei Gao

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Number of pages11
JournalIEEE Transactions on Cybernetics
Early online date21 Jan 2021
DOIs
Publication statusE-pub ahead of print - 21 Jan 2021

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