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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Practical Terminal Sliding Mode Control of Nonlinear Uncertain Active Suspension Systems With Adaptive Disturbance Observer
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Practical Terminal Sliding Mode Control of Nonlinear Uncertain Active Suspension Systems With Adaptive Disturbance Observer

机译：具有自适应干扰观测器的非线性不确定有源悬架系统的实用终端滑模控制

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摘要

In this article, a practical terminal sliding mode control (TSMC) framework based on an adaptive disturbance observer (ADO) is presented for the active suspension systems. The proposed controller requires no exact feedback linearization about the suspension dynamics. The ADO is designed to estimate the unknown dynamics and control errors produced by the motor actuator. To guarantee the fast convergence and high control accuracy, a TSMC-type surface and a continuous sliding mode reaching law are designed. The finite-time convergence of the controlled system is guaranteed based on the Lyapunov stability theory. To evaluate the performance improvement of the proposed control framework, a detailed comparison with the active disturbance rejection method has been provided. Finally, a practical hardware-in-loop experiment is implemented to validate the effectiveness of the proposed control scheme.
机译：在本文中，呈现了基于自适应干扰观察者（ADO）的实际终端滑模控制（TSMC）框架用于有源悬架系统。所提出的控制器不需要关于悬架动态的精确反馈线性化。 ADO旨在估计电动机执行器产生的未知动力和控制误差。为了保证快速收敛和高控制精度，设计了TSMC型表面和连续滑模到达法律。基于Lyapunov稳定性理论，保证了受控系统的有限时间收敛。为了评估所提出的控制框架的性能改进，已经提供了与主动扰动抑制方法的详细比较。最后，实施了实际的硬件环路实验，以验证所提出的控制方案的有效性。

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