Skyhook and Groundhook Control for a Robotic Semi-Active Suspension

Autonomous mobile platforms require precise control over vertical vibrations to maintain the accuracy of onboard equipment (sensors, cameras, manipulators), which is critical for instance in smart farming applications [1]. One of the possibilities is utilizing a semi-active suspension system based on magnetorheological (MR) dampers, offering a real-time damping coeffi-cient modification by the magnetic field applied to the MR fluid, altering the viscosity and flow resistance [2, 3]. To exploit and assess such system's potential, this study focuses on simulation and evaluation of several control strategies.