Modeling, Analysis and Control of Active Suspension System using Sliding Mode Control and Disturbance Observer

The purpose of this paper is to construct an active suspension control for a quarter car model subject to excitation from a road profile using an improved sliding mode control with an observer design. The sliding mode is chosen as a control strategy, and the road profile is estimated by using an observer design. The objective of a car suspension system is to improve the riding quality without compromising the handling characteristic by directly controlling the suspension forces to suit the road and driving conditions. However, the mathematical model obtained suffers from few uncertainties. In order to achieve the desired ride comfort, road handling and to solve the uncertainties, a sliding mode control technique is presented. A nonlinear surface is used to ensure fast convergence of vehicle's vertical velocity. The nonlinear surface changes the system's damping. The effect of sliding surface selection in the proposed controller is also presented. Extensive simulations are performed and the results obtained shows that the proposed controller perform well in improving the ride comfort and road handling for the quarter car model using the hydraulically actuated suspension system. The main motivation for designing an active suspension system is to improve the ride comfort by absorbing the shocks due to a rough and uneven road.

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