1/4乗用車モデルに対するスライディングモード制御によるアクティブサスペンションに関する一研究 : 最小次元オブザーバを併合した制御装置の設計

This paper is concerned with the design of an active suspension system of quarter car models using the theory of sliding mode control. The model is described by a nonlinear system with two degrees of freedom excited by an unknown input from road surface. In the previous report, the proposed control for the active suspension was constructed as a sum of LQ control and nonlinear switching control based on a reduced linear system with one degree of freedom, and the improved performance by the proposed method was experimentally shown in a small-scaled model. The present report proposes an active suspension system based on the original nonlinear system using a minimum-order observer for estimating the unknown input from a road profile. The experimental results indicate that the proposed method is much improved in the suspension performance.