期刊
NONLINEAR DYNAMICS
卷 103, 期 2, 页码 1627-1644出版社
SPRINGER
DOI: 10.1007/s11071-020-06188-z
关键词
Homogeneous output feedback control; Nonlinear control; Active suspension; Intelligent vehicle
资金
- Zhejiang Provincial Natural Science Foundation of China [LZ21E050002]
- National Natural Science Foundation of China [61773237]
A novel homogeneous output feedback control method is proposed to address the strong nonlinearity of an active suspension system in an intelligent electric vehicle. The effectiveness of the designed controller is verified through simulation and testing, showing its ability to relax the growth conditions imposed on uncertain and nonlinear terms.
An active suspension of an intelligent electric vehicle driven by four in-wheel motors (IEV-DFIM) is a strong nonlinear system because of time-varying parameters in practice, which causes difficult controllability. For addressing this issue, the paper proposes a novel homogeneous output feedback control method. Firstly, an active suspension dynamic model which considers the time-varying sprung mass, stiffness coefficients and damping coefficients is built. Secondly, an active suspension control system is constructed based on the dynamic model whose uncertain and nonlinear terms do not meet the linear or high-order growing. Thirdly, the homogeneous output feedback method is developed to relax the growth condition imposed on the uncertain and nonlinear terms for the active suspension. Finally, the simulation and test are carried out to verify the effectiveness of the designed controller compared with the sliding mode control method and passive suspension.
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