Active Control of Centrifugal Actuators for Enhanced Vehicle Lateral Stability: From Optimal Control of Measurable Disturbances to Robust Observation of Unmeasurable Disturbance

Abstract

During vehicle operation, lateral disturbances such as crosswinds, uneven road surfaces, and load variations inevitably occur. In severe cases, these disturbances can compromise ride comfort, reduce handling stability, and even jeopardize driving safety. To enhance lateral stability under severe disturbance conditions, this study develops a vehicle-side active vibration suppression model using centrifugal actuators. The research focuses on two typical scenarios—"measurable disturbances" and "unmeasurable disturbances"—providing systematic modeling and control strategy development. The innovation lies in implementing a "control force reverse-engineering actuator angular displacement" method under measurable disturbance conditions, enabling actuators to achieve near-optimal vibration suppression even under constrained operating conditions and proposing an "observer + output feedback" actuator control architecture, which maintains robust vibration suppression performance even when interference forces remain unmeasurable. This study systematically investigates the lateral active vibration suppression strategy for centrifugal actuators through three dimensions: dynamic modeling, measurable disturbance optimal control, and unobservable disturbance state observation. The approach achieves comprehensive improvement in lateral vibration within the 20%–45% range, demonstrating the feasibility and engineering potential of centrifugal actuators in enhancing vehicle lateral stability.