TY - GEN
T1 - Development and control of active vehicle suspension systems using pneumatic muscle actuator
AU - Pan, Kuan Yu
AU - Hsu, Li Tang
AU - Lee, Lian Wang
AU - Chiang, Hsin Han
AU - Li, I. Hsum
AU - Wang, Wei Yen
N1 - Funding Information:
This work was supported by MOST Foundation with Grant. No. MOST 105-2221-E-003-029 and 105-2221-E-262-009.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - 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.
AB - 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.
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U2 - 10.1109/RCAR.2017.8311931
DO - 10.1109/RCAR.2017.8311931
M3 - Conference contribution
AN - SCOPUS:85050596506
T3 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
SP - 617
EP - 622
BT - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Y2 - 14 July 2017 through 18 July 2017
ER -