A homogeneous domination output feedback control method for active suspension of intelligent electric vehicle

An active suspension of an intelligent electric vehicle driven by four in-wheel motors (IEV-DFIM) is a strong nonlinear system because of time-varying parameters in practice, which causes difficult controllability. For addressing this issue, the paper proposes a novel homogeneous output feedback control method. Firstly, an active suspension dynamic model which considers the time-varying sprung mass, stiffness coefficients and damping coefficients is built. Secondly, an active suspension control system is constructed based on the dynamic model whose uncertain and nonlinear terms do not meet the linear or high-order growing. Thirdly, the homogeneous output feedback method is developed to relax the growth condition imposed on the uncertain and nonlinear terms for the active suspension. Finally, the simulation and test are carried out to verify the effectiveness of the designed controller compared with the sliding mode control method and passive suspension.