Fixed-Time Estimation of Uncertainties and Road Excitation in Vehicle Suspension System: A Practical Approach

Document Type : Dynamics, Vibrations, and Control

Authors

1 Master's student, Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

2 Assistant Professor, Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

3 Professor, Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

Abstract

This study presents the detailed design and practical implementation of a fixed-time extended state observer for the precise simultaneous estimation of model uncertainties and road excitation input in a vehicle suspension system. By reformulating the system dynamics in state-space form and treating uncertainties and external disturbances as extended states, the proposed observer is analytically derived using Lyapunov stability theory. The key innovation lies in guaranteeing convergence within a fixed time interval, independent of initial conditions. The performance of the proposed observer is evaluated both analytically and experimentally using a quarter-car suspension test setup (MacPherson). Experimental results demonstrate that the observer achieves stable and initial-condition-independent estimation of both system states and road input. Furthermore, a comparison with a conventional extended state observer confirms the clear superiority of the proposed method in terms of estimation accuracy. These comprehensive findings collectively underscore the effectiveness and reliability of the presented approach in practical scenarios.

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History

  • Receive Date: 22 September 2025
  • Revise Date: 23 November 2025
  • Accept Date: 10 December 2025
  • Publish Date: 24 December 2025

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