This article proposes a new intelligent control scheme that uses the Fuzzy Super Twisting Sliding Mode Concept (FSTSMC) and PID controller tuned with the Artificial Bee Colony (ABC) algorithm to control a full vehicle active suspension system with new convergence proof. Suspension systems are utilized to provide vehicle safety and improve comfortable driving. The effects of road roughness transmitted by tires to the vehicle body can be reduced by using suspension systems. In this work super twisting sliding mode is combined with a fuzzy system to design a robust control method. The super twisting sliding mode concept is utilized to limit and minimize the chattering problem and the fuzzy system is used for estimating the unknown parameters and uncertainty in the suspension system components (spring, damper, and actuator). The advantage of such combination is that it can handle the uncertainties and nonlinearities efficiently. The PID controller is used to create the required force to be produced by the actuator. The proposed control scheme consists of four similar sub control schemes, one for each of the four corners of the vehicle. All parameters in the sub control schemes are optimized using the ABC algorithm. The designed control system is applied for a full vehicle model with 8 degrees of freedom. Simulation results show large reduction in the vibration of the vehicle body when passing on disturbance and also show good robustness properties when tested for different road conditions. Passive and active suspension systems using sliding modecontrol (SMC) and the proposed FSTSMC are compared to test the efficiency and the ability of the proposed control scheme to achieve safe and comfortable driving for a random road profile.

中文翻译：

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基于人工蜂群优化算法的未知整车主动悬架系统模糊超扭滑模控制方案设计

本文提出了一种新的智能控制方案，该方案使用模糊超扭滑模概念 (FSTSMC) 和通过人工蜂群 (ABC) 算法调整的 PID 控制器，以控制具有新收敛证明的整车主动悬架系统。悬架系统用于提供车辆安全性并提高驾驶舒适度。通过使用悬架系统可以减少轮胎传递到车身的路面不平度的影响。在这项工作中，超扭曲滑模结合模糊系统设计了一种鲁棒控制方法。超级扭转滑模概念用于限制和最小化颤振问题，模糊系统用于估计悬架系统组件（弹簧、阻尼器和执行器）中的未知参数和不确定性。这种组合的优点是可以有效地处理不确定性和非线性。PID 控制器用于创建由执行器产生的所需力。建议的控制方案由四个类似的子控制方案组成，车辆的四个角各一个。子控制方案中的所有参数均使用 ABC 算法进行优化。设计的控制系统应用于具有 8 个自由度的整车模型。仿真结果表明，在传递扰动时车身振动大大降低，并且在不同路况下测试时也显示出良好的鲁棒性。