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All Journal Journal of Robotics and Control (JRC)
Al-Khazraj, Huthaifa
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Investigation of Optimal Controllers on Dynamics Performance of Nonlinear Active Suspension Systems with Actuator Saturation Al-Ali, Mohammed A.; Lutfy, Omar F.; Al-Khazraj, Huthaifa
Journal of Robotics and Control (JRC) Vol 5, No 4 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i4.22139

Abstract

This study investigates designing optimal controllers on the dynamics performance of active suspension systems. The study incorporates nonlinearities and actuator saturation in the mathematical model of the suspension system for more reasonable representation of the real system. To improve ride comfort and stability performance in the presence of road disturbances, this study proposes two control frameworks including the Proportional-Integral-Derivative (PID) controller and the State Feedback (SF) controller. The focus of the study is to overcome the limitations of existing approaches in handling the actuator saturation in the controller design. To attain a better performance of the two proposed controllers including the input control constraint, a Grey Wolf Optimization (GWO) has been introduced to improve the searching process for the optimal values of the controllers’ adjustable parameters. The simulation results using MATLAB show that the proposed controllers exhibit a good performance in normal operation and in a robustness test involving system parameters’ changes. In terms of improving the response of the system, the GWO-PID controller shows a better response than that of the GWO-SF controller. Based on the Integral Square Error (ISE) index, the ISE is reduced by 16.67% using the GWO-PID controller compared to the GWO-SF controller.
Co-Authors Al-Ali, Mohammed A. Lutfy, Omar F.