Vibration isolation for active suspensions with performance constraints and actuator saturation

This paper investigates the problem of vibration isolation for vehicle active suspension systems, where parameter uncertainties, external disturbances, actuator saturation, and performance constraints are considered in an unified framework. A constrained adaptive robust control technology is developed to not only stabilize the attitude of vehicle in the context of parameter uncertainties and external disturbances, but also cover the problems of actuator saturation and performance constraints. Furthermore, the performance analysis of the closed-loop systems is given, by means of rigorous mathematical derivations. Extensive comparative experimental results are obtained to illustrate the effectiveness of the proposed control law.