Reduced vibration of off-road vehicle nonlinear suspension system using an adaptive integral sliding mode-neural network controller

Research output: Contribution to journalArticle

Abstract

Off-road terrains invariably impose a larger excitation amplitude and frequency to the suspension system of vehicles. Therefore, it is a more arduous task to reach an improved ride and handling compromise for these vehicles. The natural nonlinear dynamics related to the suspension system exacerbates the vibration response of the vehicle. In this paper, a novel robust and adaptive ISMC-NN controller is proposed to control the vibration response of vehicles traversing deformable terrains. For this purpose, a sliding surface with a novel reaching law is employed for the global asymptotic stability of the controller and the controller robustness against the unknown disturbances is improved. Lyapunov stability theorem is employed to ensure the stability and also tuning the adaptive parameters of the proposed controller. The effectiveness of the proposed controller for attenuation of the vibration response of vehicles traversing off-road terrains is verified compared to a conventional sliding mode controller. The high-fidelity MSC ADAMS based co-simulations were implemented to validate the practicality of the proposed controller.
Original languageEnglish
Pages (from-to)(In-press)
Number of pages11
JournalInternational Journal of Dynamics and Control
Volume(In-press)
Early online date8 May 2019
DOIs
Publication statusE-pub ahead of print - 8 May 2019
Externally publishedYes

Fingerprint

Off road vehicles
Neural networks
Controllers
Asymptotic stability
Robustness (control systems)
Tuning

Keywords

  • Adaptive control
  • Intelligent control
  • Neural network applications
  • Suspension system
  • Terramechanics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Modelling and Simulation
  • Mechanical Engineering
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

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title = "Reduced vibration of off-road vehicle nonlinear suspension system using an adaptive integral sliding mode-neural network controller",
abstract = "Off-road terrains invariably impose a larger excitation amplitude and frequency to the suspension system of vehicles. Therefore, it is a more arduous task to reach an improved ride and handling compromise for these vehicles. The natural nonlinear dynamics related to the suspension system exacerbates the vibration response of the vehicle. In this paper, a novel robust and adaptive ISMC-NN controller is proposed to control the vibration response of vehicles traversing deformable terrains. For this purpose, a sliding surface with a novel reaching law is employed for the global asymptotic stability of the controller and the controller robustness against the unknown disturbances is improved. Lyapunov stability theorem is employed to ensure the stability and also tuning the adaptive parameters of the proposed controller. The effectiveness of the proposed controller for attenuation of the vibration response of vehicles traversing off-road terrains is verified compared to a conventional sliding mode controller. The high-fidelity MSC ADAMS based co-simulations were implemented to validate the practicality of the proposed controller.",
keywords = "Adaptive control, Intelligent control, Neural network applications, Suspension system, Terramechanics",
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