文献类型：期刊文献

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：王刚

通信作者：Liu, Feng

机构：[1] School of Mechanical Engineering, Guizhou Institute of Technology, Guizhou, 550003, China

第一机构：贵州理工学院机械工程学院

年份：2020

卷号：582

起止页码：767-776

外文期刊名：Lecture Notes in Electrical Engineering

收录：EI(收录号：20195207923957)

语种：英文

外文关键词：Backstepping - Adaptive control systems - Controllers - Uncertainty analysis - Active suspension systems

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. ? 2020, Springer Nature Singapore Pte Ltd.