文献类型：期刊文献

英文题名：Practical Terminal Sliding Mode Control of Nonlinear Uncertain Active Suspension Systems With Adaptive Disturbance Observer

作者：Wang, Gang Chadli, Mohammed Basin, Michael V.

第一作者：王刚

通信作者：Chadli, M[1]

机构：[1]Guizhou Inst Technol, Sch Mech Engn, Guiyang 550003, Peoples R China;[2]Univ Paris Saclay, F-91190 Evry, France;[3]Autonomous Univ Nuevo Leon, Sch Phys & Math Sci, San Nicolas De Los Garza 66451, Nuevo Leon, Mexico;[4]ITMO Univ, St Petersburg 197101, Russia

第一机构：贵州理工学院机械工程学院

通信机构：corresponding author), Univ Paris Saclay, F-91190 Evry, France.

年份：2021

卷号：26

期号：2

起止页码：789-797

外文期刊名：IEEE-ASME TRANSACTIONS ON MECHATRONICS

收录：;EI(收录号：20202608862864);Scopus(收录号：2-s2.0-85086738938);WOS:【SCI-EXPANDED(收录号:WOS:000641987800019)】；

基金：This work was supported in part by the Funding Project for Scientific Research of High-Level Talents under Grant XJGC20190925, in part by the Qian-Ke-He Platform Talent under Grant [2017] 5789-11, and in part by Conacyt, Mexico under Grant 250611. Recommended by Technical Editor Y. Shtessel and Senior Editor K. Kyriakopoulos.

语种：英文

外文关键词：Tires; Convergence; Suspensions (mechanical systems); Roads; Disturbance observers; Active suspension systems; adaptive disturbance observer (ADO); disturbance suppression; terminal sliding mode control (TSMC)

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.