Fully actuated system approach to robust control for uncertain active suspension systems

Developing a robust solution to suppress vibration is an interesting and significant topic for uncertain active suspension systems. In this paper, a direct robust control method is designed for uncertain quarter-vehicle active suspension systems by applying the full actuated system approach. Firstly, a general uncertain active suspension system model is provided, where the systematic uncertainty is only required to meet the bounded assumption. Then, the robust stabilizing control method is constructed to guarantee that the system states finally converge globally into an arbitrarily small region. The closed-loop stability is proven strictly based on the Lyapunov stability theory. To the best of our knowledge, motivated by the inherent features and advantages of fully actuated systems, this paper designs the first fully actuated system-based robust control method for active suspension systems. Experimental results suggest that the designed control method is of satisfactory efficiency and robustness.