Nonlinear indirect adaptive control of a quarter car activesuspension

摘要

In this paper, an indirect adaptive controller is applied to thevehicle active suspension with a hydraulic actuator. The inner loopcontroller, which is a nonlinear adaptive controller, is designed tocontrol the force generated by the nonlinear hydraulic actuator. Thespool valve dynamics of the hydraulic actuator is reduced using asingular perturbation technique. The parameter estimation error used inan indirect adaptation is decreased asymptotically. The absolutevelocity of a sprung mass is damped down by its negatively proportionalterm (sky-hook damper) adopted as an outer loop controller