Adaptive disturbance rejection control of MR seat suspension systems based on projection-iterative-methods optimizer

This paper proposes a novel control framework for magnetorheological (MR) seat suspension systems by integrating the Projection-Iterative-Methods-based Optimizer (PIMO) with Active Disturbance Rejection Control (ADRC). A nonlinear three-degree-of-freedom MR seat model incorporating an improved Bouc-Wen damper representation is developed. The proposed PIMO-ADRC framework utilizes PIMO to perform global optimization of ADRC parameters, enabling adaptive damping force control under dynamic road disturbances. Comparative simulation studies were conducted under ISO Class D road excitation at speeds of 1 m/s and 2 m/s . Results show that the proposed method reduces the root-mean-square (RMS) vertical acceleration of the seat to 0.510 m/s 2 at 1 m/s and 0.553 m/s 2 at 2 m/s , achieving reductions of 17.5% and 23.3%, respectively, compared to ANFIS-ADRC, and 32.1% and 39.4% compared to conventional ADRC. Furthermore, the dynamic displacement of the suspension is also minimized while maintaining robust stability under shock inputs. The PIMO-ADRC system exhibits strong adaptability, enhanced vibration attenuation, and faster convergence without manual tuning, making it a highly effective solution for semi-active suspension systems in agricultural vehicles. Moreover, the elimination of manual gain tuning by the PIMO optimizer enhances controller adaptability and practical applicability for agricultural vehicles exposed to long-term vibration environments.