Page 305 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

308 Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

Figure 19.4 Performance of velocity-force characteristics with different estimation
methods.

Figure 19.5 Comparative performance of vertical displacements.

where b=0.1m, l = 5 m are the height and the length of the bump
road profile, and V s = 45 km/h is the vehicle velocity. The suspension
performance of the proposed semi-active suspension methods (19.26)
with (19.31) is compared to passive suspension system (i.e., I = 0)
under the initial values x 1 (0) = 0.01 m, x i (0) = 0,i = 2,3,4,
(0) =
T
[0,0,0,0,0,0.5] . The proposed control and adaptive law are simu-
lated with parameters k s = 40, = 5, k = 0.001, = 1, κ = 0.3, and
T
1 = 30diag([0.14,3.8,73,0,0,0.02] ). Simulation results of the vertical
vehicle displacement x 1 are given in Fig. 19.5. Compared with passive
suspension and semi-active control with gradient adaptation (i.e., κ = 0