Nonlinear Output Feedback Finite-Time Control for Vehicle Active Suspension Systems

摘要

In this paper, an output feedback finite-time control method is investigated for stabilizing the perturbed vehicle active suspension system to improve the suspension performance. Since physical suspension systems always exist in the phenomenon of uncertainty or external disturbance, a novel disturbance compensator with finitetime convergence performance is proposed for efficiently compensating the unknown external disturbance. Moreover, the presented compensator is advantageous over the existing ones since it is continuous and can completely remove the matched disturbance. From the viewpoint of practical implementation, continuous control law will not lead to chattering, which is desirable for electrical and mechanical systems. For the nominal suspension system without disturbance, a homogeneous controller with a simple filter is constructed to achieve a finite-time convergence property, where the filter is applied to obtain the unknown velocity signal. Thus, the nominal controller combines a disturbance compensator into an overall continuous control law, which provides two independent parts with a separate design unit and a high flexibility for selecting the control gains. According to the geometric homogeneity and finitetime separation principle, it can be shown that the active suspension is finite-time stabilized. A designed example is given to illustrate the effectiveness of the presented controller for improving the vehicle ride performance.