Modeling and Adaptive Robust Force Control of a Pump-Controlled Electro-Hydraulic Actuator for an Active Suspension System

This paper presents an adaptive robust force control of a pump-controlled electro-hydraulic actuator for application in an active suspension system. To overcome the limitations of a linearized model for a pump-controlled electro-hydraulic actuator (EHA), which has been already studied in existing literature, an improved nonlinear model is proposed. To realize force tracking, a linear tracking differentiator-based adaptive robust control (LTDARC) is applied to deal with parametric uncertainties and unknown nonlinear dynamics. The convergence of the combination of adaptive robust control (ARC) and linear tracking differentiator (LTD) is investigated. The effectiveness of LTDARC is verified in a simulative study of a quarter-car suspension with a pump-controlled EHA.