| NONSTANDARD BACKSTEPPING BASED INTEGRAL SLIDING
MODE CONTROL OF HYDRAULICALLY ACTUATED ACTIVE
SUSPENSION SYSTEM |
| Mujtaba A. Flayyih 1,2, Mohsin N. Hamzah 3, Jafar M. Hassan 3 |
1Al-Mustaqbal University College
2University of Al-Qadisiyah
3University of Technology |
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| ABSTRACT |
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In this paper, the integral sliding mode control (ISMC) with non-standard backstepping is utilized for
designing an automotive active suspension system hydraulic actuator. The main objective of this design is to make the
suspension system’s ride more comfortable while keeping the road holding and rattling space within safe bounded limits. The
controller design consists of applying the ISMC to perform a virtual control force, that meets all suspension requirements,
besides utilizing a hydraulic model by a non-standard backstepping control algorithm taking into consideration the
uncertainty and nonlinearity of the hydraulic system. The main advantage of ISMC is to have a robust controller, such that the
stability of the system appears from starting its states at the switching surface where system nonlinearity, parameter changes,
and road disturbances are rejected by a discontinuous control term present strongly in the suspension dynamics. This work
demonstrates the effectiveness of the present controller design through the simulation of a 2-DOF quarter car system
equipped with a passive suspension. The results vividly showcase how the current design enhances the overall performance
of the system. |
| Key Words:
Nonlinear active suspension system, Integral sliding mode control (ISMC), Hydraulic system,
Nonstandard backstepping |
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Corresponding Author.
Mohsin N. Hamzah , Email. 
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