Enhanced active disturbance rejection control for vehicle active suspension system subjected to input time varying delay

Vehicles with Active Suspension System (ASS) get affected by the uncertain disturbances and time lags in transmitting the control. To surmount such issues an Active Disturbance Rejection Control (ADRC) is investigated in this article. Suspension system with uncertain parameters, nonlinear forces is firstly formulated along with the consideration of input time delay. Secondly an ADRC is set up jointly with an Extended State Observer (ESO) to estimate and to compensate the disturbance which is not discussed earlier for ASS with delays. Later on, the stability of the proposed work is discussed with the aid of Lyapunov stability theory. To replicate the real scenario, unlike the existing literatures, four types of road irregularities are considered and the respective disturbance rejections are analysed under this control in the simulation section. To prove its efficacy comparison between the proposed control and PI control are analysed.