Improving ride comfort for operators of agricultural machinery traversing uneven terrain remains a critical engineering challenge. This paper proposes an integrated control framework that combines an Improved Snake-shaped Optimizer (ISO) with Active Disturbance Rejection Control (ADRC) for magnetorheological (MR) seat suspensions. A nonlinear three-degree-of-freedom (3-DOF) human–seat–cab model is established, together with an improved Kwok model to characterize the nonlinear hysteretic behavior of the MR damper. In the proposed framework, the ADRC layer generates the desired damping force, while the actuator current is obtained through a passivity-constrained inverse force-to-current mapping derived from the identified damper model. The ISO is employed to perform global offline tuning of the ADRC parameters, and an optional slow supervisory retuning mode is reserved for sustained changes in road roughness or operating conditions. Simulation studies under ISO Class D random road profile with a superimposed deterministic half-cosine bump at vehicle speeds of 1 m/s and 2 m/s demonstrate that the proposed method outperforms conventional ADRC and ANFIS-ADRC. Compared with conventional ADRC, the proposed ISO-ADRC reduces the root-mean-square (RMS) value of seat vertical acceleration by 35.5% and 43.4%, respectively. It also achieves lower suspension working space metrics, indicating improved vibration isolation and better suspension travel control. These results show that the proposed framework can significantly reduce reliance on manual trial-and-error tuning of controller gains while improving ride comfort and operational safety.
Yang et al. (Fri,) studied this question.
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