Title :
Output feedback based sliding mode control of active suspension using backstepping
Author :
Rath, J.J. ; Veluvolu, K.C. ; Defoort, M.
Author_Institution :
Sch. of Electron., Kyungpook Nat. Univ., Daegu, South Korea
Abstract :
The presence of nonlinearity in the dynamics of a suspension system equipped with a hydraulic actuator and faced with road perturbations makes its control difficult. To provide an effective control action, a robust observer based output feedback control is proposed. For the estimation of the states in the presence of nonlinearities and perturbations a High Gain Observer is first designed. Employing the estimated system dynamics, an integral sliding mode control based on the back-stepping technique is then derived. The closed loop stability is analyzed under Lipschitz conditions for the nonlinearities.
Keywords :
closed loop systems; control nonlinearities; feedback; hydraulic actuators; nonlinear dynamical systems; observers; perturbation techniques; road vehicles; robust control; suspensions (mechanical components); variable structure systems; Lipschitz conditions; active suspension; backstepping technique; closed loop stability; dynamics nonlinearity; effective control action; high gain observer; hydraulic actuator; integral sliding mode control; output feedback based sliding mode control; road perturbations; robust observer based output feedback control; suspension system; Hydraulic actuators; Nonlinear dynamical systems; Observers; Output feedback; Roads; Suspensions; Vehicle dynamics;
Conference_Titel :
Control, Engineering & Information Technology (CEIT), 2015 3rd International Conference on
Conference_Location :
Tlemcen
DOI :
10.1109/CEIT.2015.7233110
