In this paper, an output feedback finite-time control method is investigated for stabilizing the perturbed vehicle active suspension system to improve the suspension performance. Since physical suspension systems always exist in the phenomenon of uncertainty or external disturbance, a novel disturbance compensator with finite-time convergence performance is proposed for efficiently compensating the unknown external disturbance. Moreover, the presented compensator is advantageous over the existing ones since it is continuous and can completely remove the matched disturbance. From the viewpoint of practical implementation, continuous control law will not lead to chattering, which is desirable for electrical and mechanical systems. For the nominal suspension system without disturbance, a homogeneous controller with a simple filter is constructed to achieve a finite-time convergence property, where the filter is applied to obtain the unknown velocity signal. Thus, the nominal controller combines a disturbance compensator into an overall continuous control law, which provides two independent parts with a separate design unit and a high flexibility for selecting the control gains. According to the geometric homogeneity and finite-time separation principle, it can be shown that the active suspension is finite-time stabilized. A designed example is given to illustrate the effectiveness of the presented controller for improving the vehicle ride performance.

中文翻译：

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车辆主动悬架系统的非线性输出反馈有限时间控制

本文研究了一种输出反馈有限时间控制方法，用于稳定被摄动车辆的主动悬架系统，以提高悬架性能。由于物理悬架系统始终存在不确定性或外部扰动现象，因此提出了一种具有有限时间收敛性能的新型扰动补偿器，以有效地补偿未知的外部扰动。而且，提出的补偿器是连续的并且可以完全消除匹配的干扰，因此优于现有的补偿器。从实际实现的角度来看，连续控制律不会导致颤动，这对于电气和机械系统是理想的。对于无干扰的标称悬挂系统，构造具有简单滤波器的均质控制器以实现有限时间收敛性，其中应用滤波器以获得未知速度信号。因此，标称控制器将干扰补偿器组合成一个整体的连续控制律，该律提供了两个具有独立设计单元的独立部件，并且具有选择控制增益的高度灵活性。根据几何均匀性和有限时间分离原理，可以证明主动悬架是有限时间稳定的。给出一个设计实例来说明所提出的控制器改善车辆行驶性能的有效性。标称控制器将干扰补偿器组合成一个整体的连续控制定律，该定律提供了两个具有独立设计单元的独立部件，并且在选择控制增益方面具有很高的灵活性。根据几何均匀性和有限时间分离原理，可以证明主动悬架是有限时间稳定的。给出一个设计实例来说明所提出的控制器改善车辆行驶性能的有效性。标称控制器将干扰补偿器组合成一个整体的连续控制定律，该定律提供了两个具有独立设计单元的独立部件，并且在选择控制增益方面具有很高的灵活性。根据几何均匀性和有限时间分离原理，可以证明主动悬架是有限时间稳定的。给出一个设计实例来说明所提出的控制器改善车辆行驶性能的有效性。