Design of Fractional Order controller based on Evolutionary Algorithm for a full vehicle nonlinear active suspension systems

Abstract

An optimal Fractional Order PID (FOPID) controller is designed for a full vehicle nonlinear active suspension system. The optimal values of FOPID controller parameters for minimizing the cost function are tuned using an Evolutionary Algorithm (EA), which offers an optimal solution to a multidimensional rough objective function. The fitness parameters of FOPID controller (proportional constant P, integral constant I, derivative constant D, integral order and derivative order ) are selected from ranges of reliable values, depending on survival-to-the-fitness principle used in the biology science. A full vehicle nonlinear active suspension model including hydraulic actuators, nonlinear dampers and nonlinear springs has been proposed with structural and analytical details. The nonlinear frictional forces due to rubbing of piston seals with the cylinders wall inside the actuators are taken into account to find the real supply forces generated by the hydraulic actuator. The results of the full vehicle nonlinear suspension system using the FOPID controller are compared with the corresponding passive suspension system (system without controller). The controlled suspension system has been investigated under typical vehicle maneuvers: cruising on rough road surface, sharp braking and cornering. The results have clearly shown the effectiveness and robustness of the proposed controller.