A Physical-State Feedforward Observer with Disturbance-Adaptive Constraint Control for Active Suspension Electro-Hydraulic Actuators

Abstract

Abstract

The high-performance control of active suspension electro-hydraulic actuators (ASEHA) is limited by a timing mismatch: the primary internal physical state (load pressure) responds to disturbances almost instantaneously, whereas the tracking error used for feedback lags behind. To address this issue, a physics-aware co-design framework introduces three innovations: (i) a pressure-adaptive bandwidth ESO that directly schedules the observer bandwidth via load pressure, enabling faster disturbance estimation; (ii) a disturbance-adaptive constraint controller whose safety boundary is adjusted in real time using the observer‘s disturbance estimates, balancing tracking precision and safety; and (iii) a structured disturbance-separation architecture that reduces observer burden via model-based feedforward. By leveraging load pressure as a feedforward signal, this framework overcomes the latency inherent in error-feedback methods. Comparative simulations show that the proposed method outperforms conventional error-feedback methods by achieving a significant reduction in estimation error, as well as 2.3-times faster convergence, while ensuring both high tracking accuracy and strict constraint satisfaction.