We formulate the control problem of active suspension systems (ASSs) that are underactuated as constraint-following. The objective is to drive the system to follow a series of servo constraints or control goals which include both equality constraint of the reference trajectory and inequality constraint of the boundary restriction on the sprung mass displacement. The equality constraints may be holonomic or nonholonomic. The control design is implemented in two steps. First, a constraint-following control (CFC) is applied to drive ASSs to follow equality constraints, under the premise of ignoring inequality constraints. No auxiliary variables or pseudo variables are required for the control design. Second, diffeomorphism is employed to integrate inequality constraints into equality constraints, by which a novel CFC is proposed to deal with both equality and inequality constraints. The effectiveness of the proposed approach is demonstrated by rigorous proof. Furthermore, we investigate an ASS control problem in which the equality constraint is determined by the skyhook model, and the inequality contraint of the sprung mass displacement is determined by the suspension deflection and the tire dynamic displacement. Experimental and numerical simulation results on this case are presented for demonstrations.

我们制定了主动悬架系统（ASSs）的控制问题，该系统未得到充分遵循约束。目的是驱动系统遵循一系列伺服约束或控制目标，这些目标既包括参考轨迹的相等约束，也包括对簧上质量位移的边界约束的不相等约束。等式约束可以是完整的或非完整的。控制设计分两个步骤实施。首先，在忽略不平等约束的前提下，应用约束跟随控制（CFC）来驱动ASS遵循平等约束。控制设计不需要辅助变量或伪变量。其次，使用微分同构将不等式约束整合到等式约束中，提出了一种新颖的氟氯化碳来处理平等和不平等的局限。严格的证据证明了该方法的有效性。此外，我们研究了一个ASS控制问题，其中等式约束由天钩模型确定，而簧上质量位移的不等式约束由悬架挠度和轮胎动态位移确定。给出了在这种情况下的实验和数值模拟结果以进行演示。悬架挠度和轮胎动力位移决定了簧载质量位移的不等约束。给出了在这种情况下的实验和数值模拟结果以进行演示。悬架挠度和轮胎动力位移决定了簧载质量位移的不等约束。给出了在这种情况下的实验和数值模拟结果以进行演示。