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Enhanced nonlinear disturbance observer based sliding mode control design for a fully active suspension system

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Abstract

In this paper, a new adaptive sliding mode controller using an enhanced disturbance observer is proposed for active suspension. For acquiring the knowledge of the states, the use of sensors is avoided to reduce the designing cost. Instead of it, an ensemble Kalman filter is used for estimating the states. Chattering in the traditional sliding mode control method is minimized by introducing a continuous term in switching function. An enhanced nonlinear disturbance observer is designed to ensure the robustness of the proposed controller. Through rigorous analysis, the stability is proved using the Lyapunov method. To demonstrate the efficiency of the proposed controller, it is subjected to different road profiles in simulation and experimental setups.

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Abbreviations

SMD:

Sprung mass displacement

SMV:

Sprung mass velocity

SMA:

Sprung mass acceleration

UMD:

Unsprung mass displacement

UMV:

Unsprung mass velocity

RSD:

Relative suspension deflection

RTD:

Relative tyre force

SMC:

Sliding mode control

ENKF:

Ensemble Kalman filter

ENDO:

Enhanced nonlinear disturbance observer

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Authors and Affiliations

  1. Department of EEE, National Institute of Technology, Nagaland, India

    L. Vidyaratan Meetei & Dushmanta Kumar Das

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  1. L. Vidyaratan Meetei
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  2. Dushmanta Kumar Das
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Correspondence to Dushmanta Kumar Das.

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Meetei, L.V., Das, D.K. Enhanced nonlinear disturbance observer based sliding mode control design for a fully active suspension system. Int. J. Dynam. Control 9, 971–984 (2021). https://doi.org/10.1007/s40435-020-00682-3

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  • DOI: https://doi.org/10.1007/s40435-020-00682-3

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