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

Figure 19.8 Suspension space of semi-active suspension systems.

19.5 CONCLUSION

In this chapter, an adaptive estimation and control for vehicle semi-active
suspension system with MR damper is proposed. A hyperbolic model is
suggested to describe the hysteresis behavior of MR dampers. The un-
known parameters of the MR damper model are estimated by using a re-
cently introduced adaptive algorithm based on the estimation error. More-
over, the MR damper is further incorporated into the vehicle suspension
system, and an adaptive control is developed to regulate the vertical dis-
placement of the vehicle body. Regulation of vehicle vertical displacement
and parameter estimation can be achieved simultaneously by introducing
a leakage term of the estimation error in the adaptive law. The suspen-
sion requirements of ride comfort and vehicle safety are also studied. The
proposed approaches are validated by comparative simulations based on a
quarter-car model.

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[3] G. Yang, B.F. Spencer Jr., J.D. Carlson, M.K. Sain, Large-scale MR fluid dampers:
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