High order sliding mode control with estimation for vehicle active suspensions

Abstract

In this study, a new high order sliding mode controller (HOSMC), based on super twisting algorithm (STA), is proposed for vehicle active suspensions. It is well known that first order sliding mode controller (SMC) is insensitive to parameter variations and external disturbances. On the other hand, it suffers from chattering present in control signal that may harm the mechanical components of the system. Therefore, HOSMC is preferred in this study that attenuates chattering effectively while preserving its robustness. Proposed HOSMC uses an estimation for the equivalent part of the control signal and uses the STA for the discontinuous part of the control law. Additionally, the controller gains are obtained by offline multi-objective genetic algorithm search. Extensive simulations and experimental results are presented to reveal the performance of the proposed controller. First order SMC is also designed and used for comparison. The results indicate the superior performance of the proposed HOSMC.