A model following sliding mode controller for semi-active suspension systems with MR dampers

Author

Yokoyama, Makoto ; Hedrick, J. Karl ; Toyama, Shigehiro

Author_Institution

Dept. of Mech. & Production Eng., Niigata Univ., Japan

Volume

4

fYear

2001

fDate

2001

Firstpage

2652

Abstract

This paper presents a new sliding mode controller for semi-active suspension systems with Magnetorheological (MR) dampers which have undesirable nonlinear properties. In the proposed controller, a desired semi-active suspension system is chosen as the reference model to be followed, and the control low is determined so that an asymptotically stable sliding mode will occur in the error dynamics between the plant and the reference model states. The advantages of the proposed controller are: (1) measurement of the-damper force is not required, (2) the reference model specifies the desired performance considering the passivity constraint of the damper, (3) it is highly possible to maintain the sliding mode and achieve high robustness against model uncertainties and disturbances. Numerical simulations illustrate the effectiveness of the controller

Keywords

damping; magnetorheology; robust control; variable structure systems; Magnetorheological dampers; error dynamics; model following control; reference model; semi-active suspension systems; sliding mode controller; Control systems; Damping; Error correction; Force measurement; Magnetic levitation; Magnetic properties; Nonlinear control systems; Nonlinear dynamical systems; Shock absorbers; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.946276

Filename

946276