Nonlinear Controller Design for Active Suspension Systems Using the Immersion and Invariance Method
Abstract
We present a controller design based on the immersion and invariancemethod for an active suspension system, and compare the result with abackstepping control law. Simulation results show that the immersion andinvariance controller can stabilize the full-order system as well as thebackstepping controller in the nominal case, but is more robust to some parameterchanges in the system. Moreover, when there is an unknown parameter, theadaptive immersion and invariance controller also gives closer response to theknown parameter case than the adaptive backstepping controller.
