Backstepping Based Constrained Control of Nonlinear Hydraulic Active Suspensions*

In the combination with backstepping techniques, this paper suggests a constrained control approach for active suspension, which is based on nonlinear quarter-car model fully considering the dynamics of hydraulic actuator. The detailed procedure includes two steps: firstly the constrained H
_∞
control is designed based on the conflicting performance requirements, and then the nonlinear dynamics caused by the hydraulic actuators are dealt with backstepping techniques. Analysis and simulation results show possible improvements on ride comfort, while respecting time-domain hard constraints.