Active vibration control of vehicle suspension systems using sliding modes, differential flatness and generalized proportional-integral control


  • Esteban Chávez-Conde Universidad del Papaloapan
  • Francisco Beltrán-Carbajal Universidad Autónoma Metropolitana
  • Antonio Valderrábano-González Universidad Politécnica de la Zona Metropolitana de Guadalajara
  • Antonio Favela-Contreras ITESM


Active vehicle suspension system, sliding modes, differential flatness, generalized proportional-integral control


This paper presents a design approach of robust active vibration control schemes for vehicle suspension systems using differential flatness, sliding modes and Generalized Proportional-Integral control techniques to attenuate undesirable vibrations induced by irregular road disturbances. Two control schemes are proposed: one employing position and velocity measurements and other requiring only position measurements. Integral reconstruction of the time derivatives of the flat output up to third order is proposed to avoid the use of velocity and acceleration sensors, as well as information of unknown road disturbances.
= 15 veces | PDF (ESPAÑOL (ESPAÑA))
= 20 veces|


Download data is not yet available.


M. Ahmadian “Active control of vehicle vibration” Encyclopedia of Vibration. S.G.Braun, D.J. Ewins, S.S. Rao(editors)Vols. 1-3.Ed. Academic Press. San Diego, CA. 2001. pp. 37-45.

Z. Liu, C. Luo, D. Hu. Active Suspension Control Design Using a Combination of LQR and Backstepping Proceedings of 25th IEEE Chinese Control Conference. Harbin, Heilongjiang. August 7-11. 2006.pp. 123-125.

A.Yousefi, A. Akbari, B. Lohmann.Low Order Robust Controllers for Active Vehicle Suspensions. Proceedings of IEEE International Conference on Control Applications. Munich, Germany. October 4-6, 2006.pp. 693-698.

Tahboub, A. Karim.Active Nonlinear VehicleSuspension Variable-Gain Control.Proceedings of 13th IEEE Mediterranean Conference on Control and Automation. Limassol. Cyprus. June 27-29, 2005.pp. 569-574.

S.B. Choi, H.K. Lee, E.G. Chang. “Field test results of a semi-active ER suspension system associated with skyhook controller.” Mechatronics. Vol. 11. 2003. pp. 345-353.

G.Z. Yao, F.F. Yap, G. Chen, W.H Li, S.H. Yeo. “MR damper and its application for semi-active control of vehicle suspension system.” Mechatronics. Vol. 12. 2002. pp. 963-973.

M.Fliess, J.Lévine, Ph.Martin, P. Rouchon. “Flatness and defect of nonlinear systems: introductory theory and examples.”Int. Journal of Control. Vol. 61. 1993. pp. 1327-1361.

V. I. Utkin. Sliding Modes and Their Applications in Variable Structure Systems. Ed. MIR Publishers. Moscow (Russia). 1978. pp. 1-166.

M. Fliess, R. Márquez, E. Delaleau H. Sira-Ramírez. “Correcteurs Proportionnels-Integraux Généralisés.” ESAIM Control, Optimisation and Calculus of Variations. Vol. 7. 2002.pp. 23-41.

H. Sira Ramírez, G. Silva Navarro. “Regulation and Tracking for the Average Boost Converter Circuit: A Generalized Proportional Integral Approach.”International Journal of Control. Vol. 75. 2002. pp. 988-1001.

H. Sira Ramírez. On the generalized PI control of some nonlinear mechanical systems. Proceedings of IEEE American Control Conference, Anchorage. Alaska. 2002. pp. 839-844.

I. Martins, J. Esteves, D. G. Marques, F. P. Da Silva. “Permanent-Magnets Linear Actuators Applicability in Automobile Active Suspensions.”IEEE Trans. on Vehicular Technology. Vol. 55. 2006.pp. 86-94.

H. Sira-Ramírez, K. S. Agrawal. Differentially Flat Systems.Ed. Marcel Dekker. N.Y. 2004. pp. 1-214.

E. Chávez-Conde, F. Beltrán-Carbajal, A. BlancoOrtega, H. Méndez-Azúa. Sliding Mode and Generalized PI Control of Vehicle Active Suspensions. Proceedings of 18th IEEE International Conference on Control Applications. Saint Petersburg, Russia. 2009. pp. 1726-1731.

E. Chávez Conde, F. Beltrán Carbajal, C. García Rodríguez, A. Blanco Ortega. Sliding Mode based Differential Flatness and State Estimation of Vehicle Active Suspensions.Proceedings of 6th International Conference on Electrical Engineering, Computing Science and Automatic Control. Toluca, México. 2009. pp. 544-549.

H. Sira Ramirez. “A dynamical variable structure control strategy in asymptotic output tracking problems.”IEEE Trans. on Automatic Control. Vol. 38. 1993.pp. 615-620.

A. Chamseddine, H. Noura, T. Raharijaona. Control of Linear Full Vehicle Active Suspension System Using Sliding Mode Techniques.Proceedings of IEEE International Conference on Control Applications. Munich, Germany. October 4-6, 2006.pp. 1306-1311.

Y. M. Sam, K. Hudha. Modelling and Force Tracking Control of Hydraulic Actuator for an Active Suspension System. Proceedings of 1st IEEE Conference on Industrial Electronics and Applications (ICIEA’2006). Singapore. May 24-26, 2006. pp. 1-6.



How to Cite

Chávez-Conde, E., Beltrán-Carbajal, F., Valderrábano-González, A., & Favela-Contreras, A. (2012). Active vibration control of vehicle suspension systems using sliding modes, differential flatness and generalized proportional-integral control. Revista Facultad De Ingeniería Universidad De Antioquia, (61), 104–113. Retrieved from