NARMA-L2 control of a nonlinear half-car servo-hydraulic vehicle suspension system

Abstract

In this paper, the performance of a nonlinear, 4 degrees-of-freedom, servo-hydraulic half-car active vehicle suspension system is compared with that of a passive vehicle suspension system with similar model parameters. The active vehicle suspension system is controlled by an indirect adaptive Neural Network-based Feedback Linearization controller (NARMA-L2). Hydraulic actuator force tracking is guaranteed by an inner Proportional+Integral+Derivative-based force feedback control loop. The output responses of the vehicles are presented and analyzed in the frequency and time domains, in the presence of model uncertainties in the form of variation in vehicle sprung mass loading. The results show that the NARMA-L2-based active vehicle suspension system performed better than the passive vehicle suspension system within the constraints.