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Hybrid sliding mode control of semi-active suspension systems

In order to design a controller which can take both ride comfort and road holding into consideration, a hybrid model reference sliding mode controller (HMRSMC) is proposed. The controller includes two separate model reference sliding mode controllers (MRSMC). One of the controllers is designed so as to force the plant to follow the ideal Sky-hook model and the other is to force the plant to follow the ideal Ground-hook model; then the outputs of these two controllers are linearly combined and applied to the plant as the input. Also, since the designed controller requires a knowledge of the terrain input, this input is approximated by the unsprung mass displacement. Finally, in the simulation section of this study, the effect of the relative ratio between the two MRSMCs and the knowledge of the terrain on the performance of the controller is numerically investigated for both steady-state and transient cases.