Practical Terminal Sliding Mode Control of Nonlinear Uncertain Active Suspension Systems With Adaptive Disturbance Observer

In this article, a practical terminal sliding mode control (TSMC) framework based on an adaptive disturbance observer (ADO) is presented for the active suspension systems. The proposed controller requires no exact feedback linearization about the suspension dynamics. The ADO is designed to estimate the unknown dynamics and control errors produced by the motor actuator. To guarantee the fast convergence and high control accuracy, a TSMC-type surface and a continuous sliding mode reaching law are designed. The finite-time convergence of the controlled system is guaranteed based on the Lyapunov stability theory. To evaluate the performance improvement of the proposed control framework, a detailed comparison with the active disturbance rejection method has been provided. Finally, a practical hardware-in-loop experiment is implemented to validate the effectiveness of the proposed control scheme.