Weighted mixing multiple model adaptive control in a mechatronic active suspension system application

Difficulties in vehicle suspension design arise from conflicting performance requirements, widely varying operating mode dynamics and uncertainties in the system model. To overcome these problems, in this work, a weighted multiple model adaptive control scheme is proposed for a mechatronic active suspension system. Candidate controllers corresponding to four operating mode conditions were optimally designed a priori. A multicontroller generates a control input made up of the sum of weighted values of all candidate controllers. The control system was designed within the framework of Adaptive Mixing Control, for which some stability criteria have been established. Simulation tests showed that the system produces significantly improved performance compared to passive suspension systems.