Tube-based Model Reference Adaptive Control for Vibration Suppression of Active Suspension Systems

Active suspension systems are critical components that play a decisive role in improving ride comfort and maneuverability of vehicles. However, inevitable road disturbances and parameter uncertainties, such as variation of the payload mass and some suspension components, lead to control performance deterioration. This paper synthesizes a tube- based model reference adaptive control (T-MRAC) scheme to enhance the suspension performance of active vehicle suspension systems. The proposed paradigm substitutes the single trajectory generated by the reference model in classical adaptive design with an optimal trajectory with a tube reference model. To illustrate the feasibility of the developed control scheme, it is applied to enhance the vertical dynamic performance of a quarter-car active suspension system with parameter uncertainties and road disturbances. By using the developed control approach, the ride comfort quality is improved, and the vehicle handling and suspension safety objectives are fulfilled in different road situations. Comparative simulation results validate the efficiency of the proposed control strategy in providing desirable vibration suppression performance with less control effort and maintaining the relative suspension deflection and relative tire force constraints within the permissible ranges.