A Fully Actuated System Approach to Adaptive Control for Half-Car Active Suspension Systems

This paper proposes an adaptive control strategy for half-car active suspension systems (ASSs) using a fully actuated system (FAS) approach. Firstly, the half-car ASSs model is presented, in which parameter uncertainties are caused by variations in vehicle load. Secondly, the controllers are obtained based on the FAS approach, which directly utilizes high-order system dynamics, simplifying controllers design and enabling concise, tunable controllers. Specifically, to handle parameter uncertainties caused by vehicle mass variations, projection-based adaptive laws are incorporated into the FAS controllers. Then, the stability of the closed-loop system is rigorously proven using Lyapunov stability theory. Finally, simulation results verify the effectiveness of the proposed method.