Comparative Analysis of Reaching Laws in Sliding Mode Control for Electrohydraulic Active Suspension Systems under Complex Road Trajectories

Abstract

This paper presents a comparative study on various reaching laws within the sliding mode control approach for electrohydraulic active suspension systems under complex road conditions. Unlike traditional single bump profiles, this study evaluates the performance of constant, exponential, and power reaching laws with scenarios involving a speed bump, a pothole, and a sidewalk. The objective is to enhance vehicle handling and passenger comfort.To address chattering in sliding mode controllers, we explore exponential and power reaching laws. Performance metrics for road holding and passenger comfort are compared with those of a traditional PID control. Simulation results indicate that the exponential reaching law excels in both position and force control, potentially negating the need for hybrid control when used alone. However, hybrid control is necessary for constant rate or power rate reaching laws.