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

With the developments of industrial automation in recent years, vehicle suspension systems have received a great deal attention industry and academia due to their critical role chassis performance vehicles [1]. The system is expected guarantee vehicle's maneuverability provide satisfactory ride comfort by absorbing vibrations arising from road surface excitations ensuring road-holding capability safety. Motivated desirable model reference adaptive control (MRAC) approach, various literature studies investigated its diverse linear nonlinear practical [2], [3] (for more background review, see Supplementary material-Appendix A). Aiming improve conventional MRAC terms closed-loop stability, asymptotical tracking, robustness against uncertainties external disturbances, authors [4] developed tube-based (T-MRAC) approach. To simultaneously achieve desired objectives, scheme split signal into two main terms; an part another that corrects objective. In addition, optimization problem formulated find newly determined correction component. However, although method's was verified using some simple single-input single-output unstable [5], extensive investigations on complex are needed validate performance. contributions this paper develop novel approach for multi-input multi-output active systems; realistic design guarantees safety achieves better with reduced effort presence disturbances compared methods. Moreover, applicability applications, three different profiles conducted simulate distinct situations, as bump-dip road, random sinusoidal profiles. Furthermore, vibration suppression investigated, superior simultaneous comfort, handling, guaranteed [6] SMC [7] approaches.