Finite-time sliding mode tracking control for active suspension systems via extended super-twisting observer

In this article, a novel sliding mode tracking control scheme for vehicle active suspension systems with matched and mismatched uncertainties is proposed based on super-twisting concept. In order to stabilize suspension deflection motion to the desired trajectory in finite time, a finite-time sliding mode controller is designed. Specifically, a novel trajectory function is proposed to adjust the suspension performances (e.g. ride comfort, tire dynamic load and suspension deflection). Compared with the first-order sliding mode control method, the proposed tracking control scheme can effectively improve the ride comfort and ensure the suspension deflection constraint. The control scheme requires only the suspension deflection and acceleration feedback and thus is easy to implement. The uncertainties of the active suspension system are considered as a total disturbance term which can be estimated online, and the estimated error can become a vanishing term in finite time using an extended super-twisting disturbance observer. Finally, the proposed control algorithm is applied to a quarter-car active suspension model, and numerical and experimental results are provided to show the merits and effectiveness of the proposed control scheme.

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