Robust passivity‐based control design for active nonlinear suspension system
Sheng Hao, Yuh Yamashita, Koichi Kobayashi
Abstract
Abstract In this article, we propose a novel interconnection and damping assignment passivity‐based control (IDA‐PBC) design for a quarter car nonlinear active suspension system. As an energy shaping method, IDA‐PBC is suitable for applying the main concept of skyhook (SH) control. In addition to the damping term, we utilize the characteristics of the energy shaping method to change the sprung and unsprung masses, thereby strengthening the vibration suppression effect. An IDA‐PBC‐based controller design for an active suspension system, which includes a nonlinear spring, a nonlinear damper, and mass uncertainty, is proposed. Different from most IDA‐PBC applications, which tend to control the position or the velocity, our methods focus on transforming a nonlinear suspension system into a desired linear system with ideal aseismatic properties. Unlike a conventional controller using the SH control strategy, we design a virtual vehicle body and an unsprung mass in addition to the damper coefficients. By deriving the port‐Hamiltonian form of the suspension system from its dynamics and rewriting it based on the relative coordinates, we obtain a feedback law that only uses the relative displacement and velocity of the suspension system. We derive the conditions for ensuring the global asymptotical stability of the suspension system and propose the guidelines for parameter selection that can guarantee robust stability against parameter uncertainties.