文献类型：会议论文

英文题名：Saturated Adaptive Backstepping Control for Uncertain Nonlinear Active Suspension Systems with Prescribed Performance

作者：Wang, Gang Liu, Feng Sun, Zhenghao

第一作者：Wang, Gang

通信作者：Liu, F[1]

机构：[1]Guizhou Inst Technol, Sch Mech Engn, Guiyang 550003, Guizhou, Peoples R China

第一机构：贵州理工学院机械工程学院

通信机构：corresponding author), Guizhou Inst Technol, Sch Mech Engn, Guiyang 550003, Guizhou, Peoples R China.|贵州理工学院机械工程学院;贵州理工学院;

会议论文集：11th International Conference on Modelling, Identification and Control (ICMIC)

会议日期：JUL 13-15, 2019

会议地点：Tianjin, PEOPLES R CHINA

语种：英文

外文关键词：Nonlinear control; Active suspensions; Prescribed performance; Adaptive control

年份：2020

摘要：In this paper, an adaptive control method with prescribed performance for active suspension systems with uncertain model parameters is proposed. In order to stabilize the vertical displacement and guarantee the suspension hard constraints, a saturated adaptive backstepping controller based on barrier Lyapunov function is designed. Specifically, a prescribed performance function (PPF) is used to adjust the convergence rate of error. Compared with other tracking control methods, the PPF-based scheme can regulate performance of the vertical motion without any priori knowledge of initial state value. Furthermore, an auxiliary system is first introduced to compensate the phenomenon of input saturation and a novel adaptive law is employed to update the sprung mass online. Finally, an experimental example is shown to verify the merit and effectiveness of the proposed controller.