Research Information System
6th International Eurasian Conference on Science, Engineering and Technology (EurasianSciEnTech 2025), Ankara, Turkey, 25 June - 27 August 2025, pp.480-489, (Full Text)
This paper presents a fuzzy backstepping controller of a quarter vehicle suspension system for a comfortable
and safe ride with a high road holding feature. Active suspension systems are essential for autonomous and
electric vehicles as well as classical vehicles. These nonlinear systems require a nonlinear controller for
ride comfort, road holding, and low power consumption. Backstepping controller provides a globally
asymptotic stability with Lyapunov design for nonlinear and systems with uncertain parameters.
Additionally, it integrates control law into the controller structure through the virtual control variables at
each step. The practical implementation of the backstepping controller requires constant closed-loop gains
for the chosen Lyapunov function at each step. The system's dynamic response depends on these values at
a high rate. In this study, the fuzzy logic controller determines these values. This approach also reduces the
steady-state error occurring in the natural behavior of the classical backstepping algorithm. The results
show that the fuzzy backstepping approach reduces the sprung mass displacement, acceleration, RMS
values of dynamic tire load, and suspension deflection according to the classical control approach.