Open AccessMaster–Slave Control for Active Suspension Systems With Hydraulic Actuator Dynamics
Author(s) -
Xiaoyu Su
Publication year - 2017
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2017.2672598
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
In order to solve the input nonlinearity of the hydraulic active suspension system, a master- slave control law is proposed through a nonlinear separation strategy. A Robust H∞ control is used as the master controller and an adaptive backstepping control scheme is designed as the slave controller. The robust H∞ master controller is studied to deal with the problems of input delay, parameter uncertainties, and multi-objective optimization in the linear system. A desired active control force is calculated by the master controller to guarantee the performances of the closed-loop system within allowable constraint ranges. The slave controller is applied to solve the problems of nonlinearity and the time constant uncertainty of the hydraulic actuator, an actual control law is obtained in this step. A quarter-car model with the hydraulic active suspension system is considered and the effectiveness of the proposed approach is illustrated by a realistic design example.
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