Robust control for Macpherson active suspension using saturated RISE controller

Abstract

This paper introduces a robust control method for car’s Macpherson active suspensions included uncertainties and exogenous disturbances. Based on saturated RISE control methodology, control force is guaranteed to be limited to a priori limit. Lyapunov stability analysis is exploited to prove control errors including vertical displacement, velocity and acceleration of the sprung mass asymptotically go to zero, so the ride comfort is improved. Simulations are performed to show the effectiveness of the proposed method in both time domain and frequency domain in comparison with the active suspension with PID controller, the semi-active suspension with a modified Skyhook control and the passive suspension.