Nonlinear Dynamics

, Volume 92, Issue 2, pp 359–371 | Cite as

Adaptive robust control methodology for active roll control system with uncertainty

  • Hao Sun
  • Ye-Hwa Chen
  • Han Zhao
Original Paper


The active roll control system (ARCS) can impose anti-roll moment quickly to prevent the vehicle rolling when the vehicle generates the roll tendency and effectively enhance the vehicle dynamic performance without sacrificing the ride comfort. In the dynamic model of the ARCS, the sprung mass of the vehicle is considered to be the uncertain parameter, which is (possibly) fast-varying. However, what we know about the uncertainty is just that it is bounded. Furthermore, the bound is unknown. The target roll angle is regarded as the constraint when the vehicle equipped with the ARCS is running under a given case. Taking the parameter uncertainty and possible initial condition deviation from the constraint into account, an adaptive robust control scheme based on the Udwadia and Kalaba’s approach is proposed to drive the ARCS to follow the pre-specified constraint approximately. The adaptive law is of leakage type which can adjust itself based on the tracking error. Numerical simulation shows that by using the adaptive robust control scheme, the error between the actual roll angle and the desired roll angle converges to zero quickly in 0.3 s from initial error 0.287 deg, and the final error is of the order of \(10^{-7}\). Thus, the control design renders the ARCS practically stable and achieves constraints following maneuvering.


Active roll control system System uncertainty Initial condition deviation Adaptive robust control 



The research is supported by the China Postdoctoral Science Foundation (No. 2016M590563), the National Natural Science Foundation of China (No. 51505116), and the Fundamental Research Funds for the Central Universities (No. JZ2016HGTB0716).


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© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Mechanical EngineeringHefei University of TechnologyHefeiPeople’s Republic of China
  2. 2.The George W Woodruff School of Mechanical EngineeringGeorgia Institute of TechnologyAtlantaUSA

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