Passivity-based Integral Sliding Mode Active Suspension Control ?

A novel passivity-based sliding mode controller for active suspension system with uncertainties is presented in this paper to decrease vibration and increase robustness. Based on the characteristics of the suspension system, interconnection and damping assignment passivitybased control approach is used to construct integral sliding surface. By elaborately designing desired interconnection matrix, damping matrix and energy function, an original integral sliding surface is completed and a subcontroller is obtained to achieve sliding mode dynamic. A simplified form of subcontroller is provided when some of designable parameters are chosen properly. Combining the subcontroller with a nonlinear component, passivity-based sliding mode controller is created. Robustness analysis is given and it is proofed that the integral sliding surface is robustly stable and can be reached. Simulation under three cases circumstances validates the effect of the proposed method.