Aiming at the problem of improving driving comfort under the condition of ensuring driving safety and limited suspension travel, this paper proposes a sliding mode adaptive controller suitable for strong disturbance action. Considering the nonlinear characteristics of the hydraulic actuator, a one-half vehicle suspension model with uncertain parameters and external disturbances is established. In the sliding mode design part of the controller, the sliding mode equivalent control items of the vertical and pitch subsystems are derived, and the optimised constant velocity approach law is adopted. The sliding mode switching control item is given to ensure that the controller can effectively adjust the vehicle body posture when the system is subjected to strong external disturbance. Finally, by selecting the adaptive law, the controller can adapt to the uncertainty of the vehicle body parameters. The simulation results for the specific example considered in this work show that the control strategy can greatly improve the ride comfort under the premise of ensuring the safety of the vehicle and the stability of the steering. Compared with the backstepping adaptive control, the control strategy of this paper shows superiority when the system is subjected to strong disturbance.

针对在保证行车安全和限制悬架行程的情况下提高驾驶舒适性的问题，提出一种适用于强扰动动作的滑模自适应控制器。考虑液压作动器的非线性特性，建立了参数不确定和外部扰动的二分之一汽车悬架模型。在控制器的滑模设计部分，推导了垂直子系统和俯仰子系统的滑模等效控制项，并采用优化等速逼近律。给出了滑模切换控制项，以保证控制器在系统受到强外部干扰时能够有效地调整车身姿态。最后，通过选择自适应律，控制器可以适应车身参数的不确定性。本文所考虑的具体实例的仿真结果表明，该控制策略可以在保证车辆安全性和转向稳定性的前提下，大大提高乘坐舒适性。与反推自适应控制相比，本文的控制策略在系统受到强扰动时表现出优越性。