Adaptive control of partially known systems using backstepping: application to H∞ design of active suspension

In this paper, an adaptive control technique is provided for the systems whose structure can be divided into a known part and an unknown part. The non-adaptive control design like LQ, H₂ and H_∞ design can be introduced into the known part of the system, and adaptive control design copes with the unknown part to realize the property by the non-adaptive control design. This is achieved by a backstepping technique. This technique is applied to the control design of active-suspension for a railway vehicle, which is divided into two parts: the main car body part and the actuator part. Some simulation results by the H_∞ design for the body part and the adaptive control design for the actuator part are provided