Adaptive-sliding mode semi-active bicycle suspension fork

In this paper, an adaptive sliding mode controller design for the semi-active bicycle suspension fork with a Magnetorheological (MR) damper is addressed. First, the mathematical equations of quarter-car suspension system for bicycle forks are proposed. Next, the adaptive sliding mode control is utilized to design the robust controller with sprung mass parameter estimation using the MR damper for eliminating external disturbances and model uncertainties, such as wind gust, the load variation of bicycle body due to different riders, and rough terrain, etc. Accordingly, the Lyapunov stability theory is proposed to conduct the exponential stability analysis of bicycle suspension system. Finally, the effectiveness of the adaptive sliding mode controller is demonstrated by the computer simulations.