Dual objective nonlinear PD sliding mode control based on an adaptive reference model for an active suspension system

Dual objective nonlinear PD sliding mode control based on an adaptive reference model for an active suspension system | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Dual objective nonlinear PD sliding mode control based on an adaptive reference model for an active suspension system Shipeng Yuan, Sujuan Shao, Yang Nan, Chicheng Ma, Yuting Wu, Zhonghui Sun, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3894517/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 28 Sep, 2024 Read the published version in Nonlinear Dynamics → Version 1 posted 12 You are reading this latest preprint version Abstract This article focuses on the study of nonlinear active suspension tracking control problems based on an adaptive reference model. To mitigate the drawback of compromised ride comfort caused by tracking errors while tracking the adaptive trajectory of body displacement, the paper explores a tracking controller with dual objectives. This includes a nonlinear PD controller for tracking the adaptive desired trajectory and a sliding mode controller concerning body velocity and acceleration. This approach ensures that the body displacement approximately tracks the desired trajectory while significantly improving ride comfort, additionally, this control method has the advantages of structural simplicity and insensitivity to tracking errors, implying that control parameters can be easily tuned, and control inputs can be effectively reduced. The stability of the controlled system is demonstrated through the Lyapunov stability theory, and a range for the body displacement tracking error is derived. Finally, the performance of the controller is tested on an experimental platform, with results indicating a substantial reduction of 69.22% and 54.66% in the RMS values of body acceleration under bump and random excitation, respectively. Active suspension systems dual objective control adaptive reference model sliding mode control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 28 Sep, 2024 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Revision requested 18 Jul, 2024 Reviews received at journal 18 Jul, 2024 Reviewers agreed at journal 02 Jul, 2024 Reviews received at journal 20 Apr, 2024 Reviewers agreed at journal 20 Apr, 2024 Reviewers agreed at journal 15 Apr, 2024 Reviewers agreed at journal 01 Feb, 2024 Reviewers agreed at journal 30 Jan, 2024 Reviewers invited by journal 30 Jan, 2024 Editor assigned by journal 27 Jan, 2024 Submission checks completed at journal 26 Jan, 2024 First submitted to journal 24 Jan, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3894517","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":269614534,"identity":"359639d0-cb5b-4633-b73d-4de8fec61ab1","order_by":0,"name":"Shipeng Yuan","email":"","orcid":"","institution":"Shandong University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Shipeng","middleName":"","lastName":"Yuan","suffix":""},{"id":269614535,"identity":"79dbcaee-996d-4e83-97cc-74f8f11c1483","order_by":1,"name":"Sujuan 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