Inertial delay control based sliding mode control for active suspension with full car model

This paper deals with reducing the vertical oscillations of the vehicle using active suspension. A full car model is considered with pitch and roll motion dynamics. Sliding mode control is used to control the nominal system matrices while the effect of disturbances from the road profile is suppressed through an inertial delay control (IDC) estimation technique. Global asymptotic stability of the controller is proved using Lyapunov criterion. Simulations are carried out in MATLAB/Simulink to evaluate the performance of the controller under parametric uncertainties and external road disturbance.