Adaptive neural network sliding mode control for active suspension systems with electrohydraulic actuator dynamics. (21st July 2020)

• Record Type: Journal Article
• Authors: Sun, Jinwei; Zhao, Kai
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 4(2020:Jul./Aug.)
• Publication Date: 2020-07-21
• Subjects: Sliding mode control -- RBF neural network -- active suspension -- electrohydraulic actuator -- force tracking; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420941986
• Languages: English
• ISSNs: 1729-8806

Abstract

The object of this article is to design an observer-based adaptive neural network sliding mode controller for active suspension systems. A general nonlinear suspension model is established, and the electrohydraulic actuator dynamics are considered. The proposed controller is decomposed into two loops. Since the dynamics of the actuator is assumed highly nonlinear with uncertainties, the adaptive neural network is presented in the inner loop to ensure the control system robustness against uncertainties, and the self-tuning weighting vector is adjusted online according to the updated law obtained by Lyapunov stability theory. In the outer loop, a model reference sliding mode controller is developed to track the desired states of the hybrid reference model that combines skyhook and groundhook control methods. Besides, to obtain the unmeasured states of the system, an unscented Kalman filter is utilized to provide necessary information for the controller. Simulation results show that the exerted force can be tracked precisely even in the existence of uncertainties. Moreover, the proposed controller can improve the suspension's performance effectively.