Development and control of active vehicle suspension systems using pneumatic muscle actuator

Kuan Yu Pan, Li Tang Hsu, Lian Wang Lee, Hsin Han Chiang, I. Hsum Li, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a pneumatic muscle (PM) based active suspension control system which aims to effectively reduce vehicle vibration and acceleration so that the ride quality can be enhanced. Although the PM-based actuator inherits several advantages including power-weight ratio and convenient usage, the nonlinear and time-varying behaviors of PM cause lots of obstacles applied in the controller design. To control the PM-based actuator, this study adopts the robust control approach, with the adaptive scheme by combining the Haar wavelet series-based algorithm, to the design of the PM-based active vehicle suspension control system. The objective of using Haar wavelet series (HWS) function is to approximate an unknown function exists in the vehicle suspension system, the difficulty of model-based prerequisite can be bypassed to reduce the control design complexity. In addition, the embedded adaptive scheme is derived based on the Lyapunov approach and the overall system stability can be guaranteed. The validness of the proposed control system is demonstrated on the quarter-car suspension platform and the experimental results are presented.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages617-622
Number of pages6
ISBN (Electronic)9781538620342
DOIs
Publication statusPublished - 2018 Mar 9
Event2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, Japan
Duration: 2017 Jul 142017 Jul 18

Publication series

Name2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Volume2017-July

Conference

Conference2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
CountryJapan
CityOkinawa
Period17/7/1417/7/18

Fingerprint

Vehicle suspensions
Muscle
Pneumatics
Actuator
Actuators
Haar Wavelet
Control System
Control systems
Active Suspension
Series
Robust control
Robust Control
System stability
Control Design
Controller Design
Lyapunov
Time-varying
Railroad cars
Vibration
Model-based

ASJC Scopus subject areas

  • Control and Optimization
  • Artificial Intelligence

Cite this

Pan, K. Y., Hsu, L. T., Lee, L. W., Chiang, H. H., Li, I. H., & Wang, W. Y. (2018). Development and control of active vehicle suspension systems using pneumatic muscle actuator. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 (pp. 617-622). (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2017.8311931

Development and control of active vehicle suspension systems using pneumatic muscle actuator. / Pan, Kuan Yu; Hsu, Li Tang; Lee, Lian Wang; Chiang, Hsin Han; Li, I. Hsum; Wang, Wei Yen.

2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 617-622 (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pan, KY, Hsu, LT, Lee, LW, Chiang, HH, Li, IH & Wang, WY 2018, Development and control of active vehicle suspension systems using pneumatic muscle actuator. in 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, vol. 2017-July, Institute of Electrical and Electronics Engineers Inc., pp. 617-622, 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, Okinawa, Japan, 17/7/14. https://doi.org/10.1109/RCAR.2017.8311931
Pan KY, Hsu LT, Lee LW, Chiang HH, Li IH, Wang WY. Development and control of active vehicle suspension systems using pneumatic muscle actuator. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 617-622. (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017). https://doi.org/10.1109/RCAR.2017.8311931
Pan, Kuan Yu ; Hsu, Li Tang ; Lee, Lian Wang ; Chiang, Hsin Han ; Li, I. Hsum ; Wang, Wei Yen. / Development and control of active vehicle suspension systems using pneumatic muscle actuator. 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 617-622 (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017).
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