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<p>A nonsingular fast terminal sliding mode control strategy is proposed for the active suspension system of emergency rescue vehicles. Its purpose is to overcome factors leading to vehicle attitude instability, such as nonlinear dynamic interference and uncertain road excitation. First, we establish a nine-degree-of-freedom active suspension dynamic model of the vehicle, and perform nonlinear decoupling. Second, nonsingular fast terminal sliding mode controllers are designed for vertical, pitch, and roll movements. The designed controllers can ensure the vertical displacement tracking error, pitch angle tracking error, and roll angle of the control strategy.</p>

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A Nonsingular Fast Terminal Sliding Mode Control Strategy for an Active Suspension System for Emergency Rescue Vehicles

  • 期刊论文

  • 发表日期：

    2026年3月5日

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  • Hao Chen,
  • Yingjie Liu,
  • Mingde Gong,
  • Dingxuan Zhao,
  • Donghua Zhao,
  • Zilong Dong,
  • Wenbin Liu,
  • Gao Huang

摘要

A nonsingular fast terminal sliding mode control strategy is proposed for the active suspension system of emergency rescue vehicles. Its purpose is to overcome factors leading to vehicle attitude instability, such as nonlinear dynamic interference and uncertain road excitation. First, we establish a nine-degree-of-freedom active suspension dynamic model of the vehicle, and perform nonlinear decoupling. Second, nonsingular fast terminal sliding mode controllers are designed for vertical, pitch, and roll movements. The designed controllers can ensure the vertical displacement tracking error, pitch angle tracking error, and roll angle of the control strategy.