A backstepping approach to control of active suspensions

A nonlinear active suspension is designed using back-stepping techniques. The underlying suspension model is linear, but is subjected to a hard constraint on the suspension deflection. The controller guarantees global asymptotic stability of the closed-loop system, and prevents the suspension from bottoming out. The presented controller is an attractive option for active suspensions in vehicles operating in rough terrain (off-road), or in vehicles where the road traction and vehicle handling (read: safety) is the number one priority (e.g. in race cars).