A backstepping approach to control of active suspensions

Author

Karlsson, Niklas ; Teel, Andrew ; Hrovat, Davor

Author_Institution

Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA

Volume

5

fYear

2001

fDate

2001

Firstpage

4170

Abstract

A nonlinear active suspension is designed using back-stepping techniques. The underlying suspension model is linear, but is subjected to a hard constraint on the suspension deflection. The controller guarantees global asymptotic stability of the closed-loop system, and prevents the suspension from bottoming out. The presented controller is an attractive option for active suspensions in vehicles operating in rough terrain (off-road), or in vehicles where the road traction and vehicle handling (read: safety) is the number one priority (e.g. in race cars)

Keywords

asymptotic stability; automobiles; closed loop systems; control system synthesis; dynamics; mechanical variables control; nonlinear control systems; automobiles; backstepping approach; closed-loop system; global asymptotic stability; nonlinear active suspension; quarter car model; road traction; rough terrain; suspension deflection; vehicle handling; Acceleration; Actuators; Backstepping; Control systems; Road safety; Road vehicles; Suspensions; Tires; Vehicle safety; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980837

Filename

980837