Active suspension control to improve passengers comfort and vehicle's stability

This paper aims to control roll, pitch and vertical displacement of the suspended mass in a passenger vehicle during on-road drive by means of controlling the active suspension system. One of the goals of this control is to isolate the suspended mass in the vehicle from any road perturbation to ensure a big amount of comfort to the passengers (less roll, less pitch and less vibrations). Two strategies are used: the first one is based on the adaptive super-twisting second order sliding mode control, while the second one lies on the Lyapunov theory. We validate both strategies on a double lane change test, and a slalom steering test at 100km/h. For this purpose, in addition to the active suspension control, we develop a full-vehicle model that presents reliable results in many situations during maneuver like road-bends, bumps, braking and accelerations.