Adaptive impedance control of a hydraulic suspension system using particle swarm optimisation

This paper presents a novel active control approach for a hydraulic suspension system subject to road disturbances. A novel impedance model is used as a model reference in a particular robust adaptive control which is applied for the first time to the hydraulic suspension system. A scheme is introduced for selecting the impedance parameters. The impedance model prescribes a desired behaviour of the active suspension system in a wide range of different road conditions. Moreover, performance of the control system is improved by applying a particle swarm optimisation algorithm for optimising control design parameters. Design of the control system consists of two interior loops. The inner loop is a force control of the hydraulic actuator, while the outer loop is a robust model reference adaptive control (MRAC). This type of MRAC has been applied for uncertain linear systems. As another novelty, despite nonlinearity of the hydraulic actuator, the suspension system and the force loop together are presented as an uncertain linear system to the MRAC. The proposed control method is simulated on a quarter-car model. Simulation results show effectiveness of the method.

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