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Purpose <p>The aim of this paper is to introduce a layered control strategy that aims to enhance the overall vehicle driving performance by implementing an advanced intelligent control method to minimise the spring mass acceleration fluctuation while ensuring sufficient suspension workspace to balance the contradiction between suspension workspace and vehicle driving comfort.</p> Method <p>In this study, a hierarchical control framework is proposed, where the upper controller employs a constrained adaptive non-singular fast terminal sliding mode controller (NFESO-NFTSM) based on nonlinear filters and extended state observers to generate the target force, and the lower controller employs a constrained adaptive robust controller (ACARC) to accurately track the target force. Firstly, a specialised nonlinear filter is used to integrate the main control objective (spring mass acceleration) and the suspension workspace into a single controlled variable, and a Lyapunov function is used to ensure that the control variable converges to zero and stays within the permissible range. Secondly, the Extended State Observer (ESO) is utilised to estimate disturbances arising from the high level of model nonlinearity and uncertainty, and known disturbances are fed back into the ESO to improve the accuracy of disturbance estimation and compensation. Third, the output of the ESO is incorporated into the control law of a non-singular fast terminal sliding mode controller to enable real-time adaptation to the suspension system state. Finally, a constrained adaptive robust control technique is developed to address the nonlinearities and uncertainties in the electrohydraulic actuator parameters and the actuator saturation problem.</p> Results <p>The layered control strategy combining nonlinear filtering with constrained adaptive non-singular terminal sliding mode control (NFESO-NFTSM-ACARC) based on extended state observer effectively balances the trade-offs between vehicle driving comfort and suspension workspace, significantly reduces the acceleration of the spring-loaded mass, and improves the overall driving comfort of the vehicle.</p> Conclusion <p>The hierarchical control strategy proposed in this study provides an effective method for vehicle chassis design, which can significantly improve driving comfort while ensuring suspension workspace.</p>

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Hierarchical Control of Nonlinear Uncertain Active Suspension System Based on Extended State Observer

  • 期刊论文

  • 发表日期：

    2025年2月3日

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  • Shuzhi Diao,
  • Xiaolong Zhao,
  • Dingxuan Zhao,
  • Zilong Dong

摘要

Purpose

The aim of this paper is to introduce a layered control strategy that aims to enhance the overall vehicle driving performance by implementing an advanced intelligent control method to minimise the spring mass acceleration fluctuation while ensuring sufficient suspension workspace to balance the contradiction between suspension workspace and vehicle driving comfort.

Method

In this study, a hierarchical control framework is proposed, where the upper controller employs a constrained adaptive non-singular fast terminal sliding mode controller (NFESO-NFTSM) based on nonlinear filters and extended state observers to generate the target force, and the lower controller employs a constrained adaptive robust controller (ACARC) to accurately track the target force. Firstly, a specialised nonlinear filter is used to integrate the main control objective (spring mass acceleration) and the suspension workspace into a single controlled variable, and a Lyapunov function is used to ensure that the control variable converges to zero and stays within the permissible range. Secondly, the Extended State Observer (ESO) is utilised to estimate disturbances arising from the high level of model nonlinearity and uncertainty, and known disturbances are fed back into the ESO to improve the accuracy of disturbance estimation and compensation. Third, the output of the ESO is incorporated into the control law of a non-singular fast terminal sliding mode controller to enable real-time adaptation to the suspension system state. Finally, a constrained adaptive robust control technique is developed to address the nonlinearities and uncertainties in the electrohydraulic actuator parameters and the actuator saturation problem.

Results

The layered control strategy combining nonlinear filtering with constrained adaptive non-singular terminal sliding mode control (NFESO-NFTSM-ACARC) based on extended state observer effectively balances the trade-offs between vehicle driving comfort and suspension workspace, significantly reduces the acceleration of the spring-loaded mass, and improves the overall driving comfort of the vehicle.

Conclusion

The hierarchical control strategy proposed in this study provides an effective method for vehicle chassis design, which can significantly improve driving comfort while ensuring suspension workspace.