Comparison of Backstepping and Sliding Mode Control Techiniques for A High Performance Active Vehicle Suspension System

摘要

The objective of this paper is to present the design and implementation of an active vehicle suspension system that aims at reducing vibrations experienced by the driver. Cost effectiveness, ride comfort and robustness are major design parameters in developing the solution. A half car suspension system test rig is constructed for testing the three implemented controllers. Back stepping is used as the primary controller due to its ability to handle non linear systems. The adaptive sliding mode controller is implemented to improve robustness and to deal with non parametric actuation related uncertainties of the controller. A comprehensive comparison of the performance of a back stepping controller was experimented and tested against the proportional integral derivative (PID) and the adaptive sliding back stepping (ASB) controllers in a progressive incremental manner. The experimental results showed that the back stepping, ASB and the PID controllers reduced the sprung mass displacement up to 76.8 %, 71.3 % and 60.9 % respectively when compared to the passive system. The adaptive sliding mode controller performance shows adaptive properties as its performance improves with time. Although ride comfort has been improved, the quality of the suspension travel has been compromised. Matlab, Simulink and DSpace are used for the programming environment.