Backstepping and Smith predictor integrated control on MR vehicle suspension system

First a seven DoF full vehicle model was adopted which takes into account the MR (Magnetorhelogical) damper. A Backstepping control method was presented in this study for the control of the semi-active suspension based on MR damper. And a Smith Predictor was used to compensate time delay of the semi-active suspension system. Then, to access the performance of the controller, both time and frequency domain analyses were carried out. The results indicated that the Backstepping and Smith controller is effective in time delay control. This controller provides a significantly enhanced ride comfort without decreasing the road holding very much.