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Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties

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Abstract

This paper addresses the tasks of height and posture motion control for an electronically controlled active air suspension (AAS) system. A mathematical model of a vehicle body with AAS system is established to describe the dynamic characteristics and then formulated into a multi-input multi-output nonlinear system by considering parametric uncertainties and unmodelled dynamics. Based on this mathematical model, a synchronization control strategy is proposed to adjust the heights of adjacent AASs simultaneously, driving the pitch and roll angles closely to an arbitrarily neighborhood of zero, achieving global uniform ultimate boundedness. The proposed controller is robust to parametric uncertainties and external disturbances. A projection operator is utilized to limit the estimated parameters to their corresponding prescribed bounds in finite time. A co-simulation is conducted by combining a virtual vehicle plant with ASS system in AMEsim with the proposed synchronization controller in MATLAB/Simulink. Simulation results demonstrate that the proposed synchronization controller is effective and robust.

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Acknowledgements

This study was funded by the University of Macau Research Grant (Grant Numbers MYRG-2016-00212-FST, MYRG-2017-00135-FST and MYRG-2018-00198-FST), and by the Portuguese Fundação para a Ciência e a Tecnologia (FCT) through ISR (Grant Number LARSyS UID/EEA/50009/2019).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Guizhou Normal University, Guiyang, China

    Rongchen Zhao

  2. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, 999078, Macao

    Rongchen Zhao & Pak Kin Wong

  3. Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, 999078, Macao

    Wei Xie, David Cabecinhas & Carlos Silvestre

  4. Laboratory for Robotics and Engineering Systems, Institute for Systems and Robotics, Lisboa, Portugal

    David Cabecinhas & Carlos Silvestre

  5. Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal

    David Cabecinhas & Carlos Silvestre

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  1. Rongchen Zhao
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  2. Wei Xie
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  3. Pak Kin Wong
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  4. David Cabecinhas
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  5. Carlos Silvestre
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Correspondence to Pak Kin Wong.

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Zhao, R., Xie, W., Wong, P.K. et al. Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties. Nonlinear Dyn 99, 2109–2127 (2020). https://doi.org/10.1007/s11071-019-05412-9

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  • DOI: https://doi.org/10.1007/s11071-019-05412-9

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