Layered output-compensation-based hybrid model predictive ride height and damping force control for active air suspension system with model-plant mismatch

Ride height control (RHC) and damping force control (DFC) in active air suspension equipped with hydraulic adjustable damper (AAS-HAD) exhibit hybrid system behavior and cause coupling problems. To address these problems, this paper proposes a layered output-compensation-based hybrid model predictive control (OCH-MPC) strategy to achieve integrated control of RHC and DFC. First, the multi-mode switching behaviors and nonlinear dynamics of the AAS-HAD are analyzed. Then by using piecewise linear approximation and the mixed logical dynamical (MLD) method, a quarter-car AAS-HAD model is developed to capture its hybrid dynamic characteristics. To achieve integrated control of RHC and DFC while mitigating model-plant mismatch (MPM) caused by linearization, a layered OCH-MPC is designed. Finally, the proposed controller is validated through simulations and experimental tests. The results demonstrate that the layered OCH-MPC outperforms traditional methods in both height regulation accuracy and ride comfort improvement.