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A backstepping approach for an active suspension system

In this paper, the control design problem for an active suspension system to maintain the comfort and safety of the vehicle body is considered. The road disturbance is modelled as a finite sum of sinusoidal functions with unknown frequencies, amplitudes and phases. The disturbance is parameterized and an adaptive controller is designed by using the backstepping technique. It is proven that the equilibrium of the closed loop system is stable and the vertical acceleration of the vehicle body tends to zero despite road disturbances. The effectiveness of the controller is illustrated with a simulation of a road test.