Active Disturbance Rejection Control for Active Suspension System of Tracked Vehicles with Gun

In this paper, a complete mathematical model for a half-tracked vehicle with eight degrees of freedom is established. It is difficult to control a suspension system owing to complexity of system itself and irregular excitations from road surfaces. A road excitation model is analyzed in which a relationship between the vehicle body and the gun is taken into account. Active disturbance rejection controllers are proposed in all channels of six independent subsystems by decoupling the original system. With switch extended state observers, total disturbances are eliminated for the half-tracked vehicle. Simulation results are presented to illustrate effectiveness of the proposed method in this paper.