Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

Huihui Pan; Xingjian Jing; Weichao Sun

doi:10.1016/j.ymssp.2016.11.012

Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

Huihui Pan, Xingjian Jing^*, Weichao Sun

^*Corresponding author for this work

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

90 Citations (Scopus)

Abstract

This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

Original language	English
Pages (from-to)	49-61
Number of pages	13
Journal	Mechanical Systems and Signal Processing
Volume	88
Online published	22 Nov 2016
DOIs	https://doi.org/10.1016/j.ymssp.2016.11.012
Publication status	Published - 1 May 2017
Externally published	Yes

Funding

This work was supported in part by the GRF project (15206514) of Hong Kong RGC, the NSFC project (61374041, 61403098) of China, a grant from the Innovation and Technology Commission of the HKSAR Government to the Hong Kong Branch of National Rail Transit Electrification and Automation Engineering Technology Research Center, the China Automobile Industry Innovation and Development Joint Fund (U1564213), the China Post Doctoral Science Special Foundation (2015T30351), the China Post Doctoral Science Foundation (2014M550190), and the Post-Doctoral Science Special Foundation of Heilongjiang Province (LBHTZ0512).

Research Keywords

Active suspension systems
Continuous control
Disturbance compensation
Robust control
ORDER SLIDING-MODE
H-INFINITY CONTROL
ACTIVE SUSPENSIONS
STABILIZATION
HOMOGENEITY

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10.1016/j.ymssp.2016.11.012

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title = "Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation",

abstract = "This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.",

keywords = "Active suspension systems, Continuous control, Disturbance compensation, Robust control, ORDER SLIDING-MODE, H-INFINITY CONTROL, ACTIVE SUSPENSIONS, STABILIZATION, HOMOGENEITY",

author = "Huihui Pan and Xingjian Jing and Weichao Sun",

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T1 - Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

AU - Pan, Huihui

AU - Jing, Xingjian

AU - Sun, Weichao

PY - 2017/5/1

Y1 - 2017/5/1

N2 - This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

AB - This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

KW - Active suspension systems

KW - Continuous control

KW - Disturbance compensation

KW - Robust control

KW - ORDER SLIDING-MODE

KW - H-INFINITY CONTROL

KW - ACTIVE SUSPENSIONS

KW - STABILIZATION

KW - HOMOGENEITY

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DO - 10.1016/j.ymssp.2016.11.012

M3 - RGC 21 - Publication in refereed journal

SN - 0888-3270

VL - 88

SP - 49

EP - 61

JO - Mechanical Systems and Signal Processing

JF - Mechanical Systems and Signal Processing

ER -

Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

Abstract

Funding

Research Keywords

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