Future manufacturing systems need to cope with frequent changes and disturbances, therefore their control architectures require constant adaptability, agility, stability, self-organization, intelligence, and robustnes...Future manufacturing systems need to cope with frequent changes and disturbances, therefore their control architectures require constant adaptability, agility, stability, self-organization, intelligence, and robustness. Bio-inspired manufacturing system can well satisfy these requirements. For this purpose, by referencing the biological organization structure and the mechanism, a bio-inspired manufacturing cell is presented from a novel view, and then a bio-inspired self-adaptive manufacturing model is established based on the ultra-short feedback mechanism of the neuro-endocrine system. A hio-inspired self-adaptive manufacturing system coordinated model is also established based on the neuro-endocrine-immunity system (NEIS). Finally, an example based on pheromone communication mechanism indicates that the robustness of the whole manufacturing system is improved by bio-inspired technologies.展开更多
A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approx...A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approximation capability of the first type fuzzy systems. By introducing integral-type Lyapunov function and adopting the adaptive compensation term of optimal approximation error, the closed-loop control system is proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
A multi-agent based manufacturing execution system (MES) model is presented. It is open, modula-rized, distributed, configurable, integratable and maintainable. By analyzing the MES domain in manufacturing systems, th...A multi-agent based manufacturing execution system (MES) model is presented. It is open, modula-rized, distributed, configurable, integratable and maintainable. By analyzing the MES domain in manufacturing systems, this paper proposes a multi-agent based MES model and analyzes the partitioned functions of MES in the model using unified modeling language (UML) diagrams, and establishes the ongoing implemented MES architecture. This MES can be facilely integrated with the enterprise resource planning (ERP), the floor control system (FCS), and the other manufacturing applications.展开更多
In this article,an approach for economic performance assessment of model predictive control(MPC) system is presented.The method builds on steady-state economic optimization techniques and uses the linear quadratic Gau...In this article,an approach for economic performance assessment of model predictive control(MPC) system is presented.The method builds on steady-state economic optimization techniques and uses the linear quadratic Gaussian(LQG) benchmark other than conventional minimum variance control(MVC) to estimate the potential of reduction in variance.The LQG control is a more practical performance benchmark compared to MVC for performance assessment since it considers input variance and output variance,and it thus provides a desired basis for determining the theoretical maximum economic benefit potential arising from variability reduction.Combining the LQG benchmark directly with benefit potential of MPC control system,both the economic benefit and the optimal operation condition can be obtained by solving the economic optimization problem.The proposed algorithm is illustrated by simulated example as well as application to economic performance assessment of an industrial model predictive control system.展开更多
The advent of rapid prototyping & manufacturing techniques represents a major breakthrough in production engineering. This paper is concerned with the software system aspects of the selective laser sintering (SL...The advent of rapid prototyping & manufacturing techniques represents a major breakthrough in production engineering. This paper is concerned with the software system aspects of the selective laser sintering (SLS),i.e.the issues that deal with an external geometric CAD model to automatically control the physical layering fabrication process as directly as possible ,regardless of the source of the model. The general issues are described and some key methods are given in this paper.展开更多
A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing (DSP...A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing (DSP) shape signal processing board and the shape control model. Based on the shape detecting principle, the shape detecting roller is designed with a new integral structure for improving the precision of shape detecting and avoiding scratching strip surface. Based on the DSP technology, the DSP shape signal processing circuit board is designed and embedded in the shape detecting system for the reliability and stability of shape signal processing. The shape detecting system was successfully used in Angang 1 250 mm HC 6-high reversible cold rolling mill. The precision of shape detecting is 0.2 I and the shape deviation is controlled within 6 1 after the close loop shape control is input.展开更多
Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law base...Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from (upswing) to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.展开更多
This paper describes a solar photovoltaic fuel cell (PVEC) hybrid generation system consisting of a photovoltaic (PV) generator, a proton exchange membrane fuel cell (PEMFC), an electrolyser, a supercapacitor, a stora...This paper describes a solar photovoltaic fuel cell (PVEC) hybrid generation system consisting of a photovoltaic (PV) generator, a proton exchange membrane fuel cell (PEMFC), an electrolyser, a supercapacitor, a storage gas tank and power conditioning unit (PCU). The load is supplied from the PV generator with a fuel cell working in parallel. Excess PV energy when available is converted to hydrogen using an electrolyser for later use in the fuel cell. The individual mathematical model for each component is presented. Control strategy for the system is described. MATLAB/Simulink is used for the simulation of this highly nonlinear hybrid energy system. The simulation results are shown in the paper.展开更多
Physical testing of large-scale ship models at sea is a new experimental method.It is a cheap and reliable way to research the environment adaptability of a ship in complex and extreme wave conditions.It is necessary ...Physical testing of large-scale ship models at sea is a new experimental method.It is a cheap and reliable way to research the environment adaptability of a ship in complex and extreme wave conditions.It is necessary to have a stable experimental system for the test.Since the experimental area is large, a remote control system and a telemetry system are essential, and were designed by the authors.An experiment was conducted on the Songhuajiang River to test the systems.The relationship between the model's speed and its electromotor's revolutions was also measured during the model test.The results showed that the two systems make it possible to carry out large-scale model tests at sea.展开更多
This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described...This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is designed as the fuzzy control inferred by using single input rule modules fuzzy reasoning, and the active control force is released by actuating a pneumatic actuator. The excitation from the road profile is estimated by using a disturbance observer, and the estimate is denoted as one of the variables in the precondition part of the fuzzy control rules. A compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension system improves much the vibration suppression of the car model. Key words One-wheel car model - Active suspension system - Single input rule modules fuzzy reasoning - Pneumatic actuator - Disturbance observer Document code A CLC number TH16展开更多
Multirate multivariable predictive control system with the sampling mechanism that adjusts the plant inputs only once but detects the plant outputs several times during a period is examined. The IMC structure of the s...Multirate multivariable predictive control system with the sampling mechanism that adjusts the plant inputs only once but detects the plant outputs several times during a period is examined. The IMC structure of the system is derived, and its robust stability and zero steady state error characteristics are analyzed. A new control algorithm is developed by adding the variation of the outputs to the index performance. The simulation results show that the method is effective and has zeros steady-state error.展开更多
Background: There is increasing evidence showing the health benefits of various forms of traditional Chinese exercises (TCEs) on the glycemic profile in people with type 2 diabetes. However, relatively little is kn...Background: There is increasing evidence showing the health benefits of various forms of traditional Chinese exercises (TCEs) on the glycemic profile in people with type 2 diabetes. However, relatively little is known about the combined clinical effectiveness of these traditional exercises. This study was designed to perform a systematic review and meta-analysis of the overall effect of 3 common TCEs (Tai Ji Quan, Qigong, Ba Duan Jin) on glycemie control in adults with type 2 diabetes. Methods: We conducted an extensive database search in Cochrane Library, EMBASE, PubMed, Web of Science, EBSCO, and China National Knowledge Infrastructure on randomized controlled trials published between April 1967 and September 2017 that compared any of the 3 TCEs with a control or comparison group on glycemic control. Data extraction was performed by 2 independent reviewers. Study quality was evaluated using the Coehrane Handbook for Systematic Reviews of Interventions, which assessed the risk of bias, including sequence generation, allocation concealment, blinding, completeness of outcome data, and selective outcome reporting. The resulting quality of the reviewed studies was characterized in 3 grades representing the level of bias: low, unclear, and high. All analyses were performed using random effects models and heterogeneity was quantified. We a priori specified changes in biomarkers of hemoglobin A1 c (in percentage) and fasting blood glucose (mmol/L) as the main outcomes and triglycerides, total cholesterol, low-density lipoprotein cholesterol, high-density lipoprotein-cholesterol, 2-h plasma glucose, and fasting plasma glucose as secondary outcomes.Results: A total of 39 randomized, controlled trials (Tai Ji Quan = 11; Qigong= 6; Ba Duan Jin= 22) with 2917 type 2 diabetic patients (aged 41-80 years) were identified. Compared with a control or comparison group, pooled meta-analyses of TCEs showed a significant decrease in hemoglobin Alc (mean difference (MD)= -0.67%; 95% confidence interval (CI):-0.86% to-0.48%; p 〈 0.00001) and fasting blood glucose (MD = -0.66 mmol/L; 95%CI: -0.95 to -0.37 mmol/L; p 〈 0.0001). The observed effect was more pronounced for interventions that were medium range in duration (i.e., 〉3-〈 12 months). TCE interventions also showed improvements in the secondary outcome measures. A high risk of bias was observed in the areas of blinding (i.e., study participants and personnel, and outcome assessment). Conclusion: Among patients with type 2 diabetes, TCEs were associated with significantly lower hemoglobin Alc and fasting blood glucose. Further studies to better understand the dose and duration of exposure to TCEs are warranted.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).展开更多
By means of the feasibility of some linear matrix inequalities(LMIs),delay dependent sufficient condition is derived for the existence of a linear sliding surface,which guarantees quadratic stability of the reduced-or...By means of the feasibility of some linear matrix inequalities(LMIs),delay dependent sufficient condition is derived for the existence of a linear sliding surface,which guarantees quadratic stability of the reduced-order equivalent system restricted to the sliding surface.And a reaching motion controller is proposed.A numerical simulation shows the effectiveness of the approach.展开更多
Many industry processes can be described as Hammerstein-Wiener nonlinear systems. In this work, an improved constrained model predictive control algorithm is presented for Hammerstein-Wiener systems. In the new approa...Many industry processes can be described as Hammerstein-Wiener nonlinear systems. In this work, an improved constrained model predictive control algorithm is presented for Hammerstein-Wiener systems. In the new approach, the maximum and minimum of partial derivative for input and output nonlinearities are solved in the neighbourhood of the equilibrium. And several parameter-dependent Lyapunov functions, each one corresponding to a different vertex of polytopic descriptions models, are introduced to analyze the stability of Hammerstein-Wiener systems, but only one Lyapunov function is utilized to analyze system stability like the traditional method. Consequently, the conservation of the traditional quadratic stability is removed, and the terminal regions are enlarged. Simulation and field trial results show that the proposed algorithm is valid. It has higher control precision and shorter blowing time than the traditional approach.展开更多
A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was establi...A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.展开更多
基金Supported by the National Natural Science Foundation of China (50505017)Fok Ying Tung Edu-cation Foundation (111056)+1 种基金the Innovative and Excellent Foundation for Doctoral Dissertation of Nanjing University of Aeronautics and Astronautics (BCXJ08-07)the New Century Excellent Talents in University,China (NCET-08)~~
文摘Future manufacturing systems need to cope with frequent changes and disturbances, therefore their control architectures require constant adaptability, agility, stability, self-organization, intelligence, and robustness. Bio-inspired manufacturing system can well satisfy these requirements. For this purpose, by referencing the biological organization structure and the mechanism, a bio-inspired manufacturing cell is presented from a novel view, and then a bio-inspired self-adaptive manufacturing model is established based on the ultra-short feedback mechanism of the neuro-endocrine system. A hio-inspired self-adaptive manufacturing system coordinated model is also established based on the neuro-endocrine-immunity system (NEIS). Finally, an example based on pheromone communication mechanism indicates that the robustness of the whole manufacturing system is improved by bio-inspired technologies.
基金The National Natural Science Foundation of PRC (60074013) the Natural Science Foundation of Education Bureau of Jiangsu Province (00KJB510006 & 00KJB470006).
文摘A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approximation capability of the first type fuzzy systems. By introducing integral-type Lyapunov function and adopting the adaptive compensation term of optimal approximation error, the closed-loop control system is proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.
文摘A multi-agent based manufacturing execution system (MES) model is presented. It is open, modula-rized, distributed, configurable, integratable and maintainable. By analyzing the MES domain in manufacturing systems, this paper proposes a multi-agent based MES model and analyzes the partitioned functions of MES in the model using unified modeling language (UML) diagrams, and establishes the ongoing implemented MES architecture. This MES can be facilely integrated with the enterprise resource planning (ERP), the floor control system (FCS), and the other manufacturing applications.
基金Supported by the National Creative Research Groups Science Foundation of China (60421002) and National Basic Research Program of China (2007CB714000).
文摘In this article,an approach for economic performance assessment of model predictive control(MPC) system is presented.The method builds on steady-state economic optimization techniques and uses the linear quadratic Gaussian(LQG) benchmark other than conventional minimum variance control(MVC) to estimate the potential of reduction in variance.The LQG control is a more practical performance benchmark compared to MVC for performance assessment since it considers input variance and output variance,and it thus provides a desired basis for determining the theoretical maximum economic benefit potential arising from variability reduction.Combining the LQG benchmark directly with benefit potential of MPC control system,both the economic benefit and the optimal operation condition can be obtained by solving the economic optimization problem.The proposed algorithm is illustrated by simulated example as well as application to economic performance assessment of an industrial model predictive control system.
文摘The advent of rapid prototyping & manufacturing techniques represents a major breakthrough in production engineering. This paper is concerned with the software system aspects of the selective laser sintering (SLS),i.e.the issues that deal with an external geometric CAD model to automatically control the physical layering fabrication process as directly as possible ,regardless of the source of the model. The general issues are described and some key methods are given in this paper.
基金Foundation item: Project(2009AA04Z143) supported by the National High Technology Research and Development Program of ChinaProject (E2011203004) supported by Natural Science Foundation of Hebei Province, ChinaProjects(2011BAF15B03, 2011BAF15B02) supported by the National Science Plan of China
文摘A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing (DSP) shape signal processing board and the shape control model. Based on the shape detecting principle, the shape detecting roller is designed with a new integral structure for improving the precision of shape detecting and avoiding scratching strip surface. Based on the DSP technology, the DSP shape signal processing circuit board is designed and embedded in the shape detecting system for the reliability and stability of shape signal processing. The shape detecting system was successfully used in Angang 1 250 mm HC 6-high reversible cold rolling mill. The precision of shape detecting is 0.2 I and the shape deviation is controlled within 6 1 after the close loop shape control is input.
文摘Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from (upswing) to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.
基金Project (No. 2002AA517020) supported by the Hi-Tech Researchand Development Program (863) of China
文摘This paper describes a solar photovoltaic fuel cell (PVEC) hybrid generation system consisting of a photovoltaic (PV) generator, a proton exchange membrane fuel cell (PEMFC), an electrolyser, a supercapacitor, a storage gas tank and power conditioning unit (PCU). The load is supplied from the PV generator with a fuel cell working in parallel. Excess PV energy when available is converted to hydrogen using an electrolyser for later use in the fuel cell. The individual mathematical model for each component is presented. Control strategy for the system is described. MATLAB/Simulink is used for the simulation of this highly nonlinear hybrid energy system. The simulation results are shown in the paper.
基金Supported by the National Defense Foundation under Grant No.51414030204CB0109
文摘Physical testing of large-scale ship models at sea is a new experimental method.It is a cheap and reliable way to research the environment adaptability of a ship in complex and extreme wave conditions.It is necessary to have a stable experimental system for the test.Since the experimental area is large, a remote control system and a telemetry system are essential, and were designed by the authors.An experiment was conducted on the Songhuajiang River to test the systems.The relationship between the model's speed and its electromotor's revolutions was also measured during the model test.The results showed that the two systems make it possible to carry out large-scale model tests at sea.
文摘This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is designed as the fuzzy control inferred by using single input rule modules fuzzy reasoning, and the active control force is released by actuating a pneumatic actuator. The excitation from the road profile is estimated by using a disturbance observer, and the estimate is denoted as one of the variables in the precondition part of the fuzzy control rules. A compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension system improves much the vibration suppression of the car model. Key words One-wheel car model - Active suspension system - Single input rule modules fuzzy reasoning - Pneumatic actuator - Disturbance observer Document code A CLC number TH16
文摘Multirate multivariable predictive control system with the sampling mechanism that adjusts the plant inputs only once but detects the plant outputs several times during a period is examined. The IMC structure of the system is derived, and its robust stability and zero steady state error characteristics are analyzed. A new control algorithm is developed by adding the variation of the outputs to the index performance. The simulation results show that the method is effective and has zeros steady-state error.
基金supported by the National Natural Science Foundation of China(No.81501956)Fok Ying-Tong Education Foundation of China(No.161092)Shanghai Key Lab of Human Performance(Shanghai University of Sport,No.11DZ2261100)
文摘Background: There is increasing evidence showing the health benefits of various forms of traditional Chinese exercises (TCEs) on the glycemic profile in people with type 2 diabetes. However, relatively little is known about the combined clinical effectiveness of these traditional exercises. This study was designed to perform a systematic review and meta-analysis of the overall effect of 3 common TCEs (Tai Ji Quan, Qigong, Ba Duan Jin) on glycemie control in adults with type 2 diabetes. Methods: We conducted an extensive database search in Cochrane Library, EMBASE, PubMed, Web of Science, EBSCO, and China National Knowledge Infrastructure on randomized controlled trials published between April 1967 and September 2017 that compared any of the 3 TCEs with a control or comparison group on glycemic control. Data extraction was performed by 2 independent reviewers. Study quality was evaluated using the Coehrane Handbook for Systematic Reviews of Interventions, which assessed the risk of bias, including sequence generation, allocation concealment, blinding, completeness of outcome data, and selective outcome reporting. The resulting quality of the reviewed studies was characterized in 3 grades representing the level of bias: low, unclear, and high. All analyses were performed using random effects models and heterogeneity was quantified. We a priori specified changes in biomarkers of hemoglobin A1 c (in percentage) and fasting blood glucose (mmol/L) as the main outcomes and triglycerides, total cholesterol, low-density lipoprotein cholesterol, high-density lipoprotein-cholesterol, 2-h plasma glucose, and fasting plasma glucose as secondary outcomes.Results: A total of 39 randomized, controlled trials (Tai Ji Quan = 11; Qigong= 6; Ba Duan Jin= 22) with 2917 type 2 diabetic patients (aged 41-80 years) were identified. Compared with a control or comparison group, pooled meta-analyses of TCEs showed a significant decrease in hemoglobin Alc (mean difference (MD)= -0.67%; 95% confidence interval (CI):-0.86% to-0.48%; p 〈 0.00001) and fasting blood glucose (MD = -0.66 mmol/L; 95%CI: -0.95 to -0.37 mmol/L; p 〈 0.0001). The observed effect was more pronounced for interventions that were medium range in duration (i.e., 〉3-〈 12 months). TCE interventions also showed improvements in the secondary outcome measures. A high risk of bias was observed in the areas of blinding (i.e., study participants and personnel, and outcome assessment). Conclusion: Among patients with type 2 diabetes, TCEs were associated with significantly lower hemoglobin Alc and fasting blood glucose. Further studies to better understand the dose and duration of exposure to TCEs are warranted.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).
基金National Natural Science Foundation of China(No.60574081)
文摘By means of the feasibility of some linear matrix inequalities(LMIs),delay dependent sufficient condition is derived for the existence of a linear sliding surface,which guarantees quadratic stability of the reduced-order equivalent system restricted to the sliding surface.And a reaching motion controller is proposed.A numerical simulation shows the effectiveness of the approach.
基金Project(61074074) supported by the National Natural Science Foundation,ChinaProject(KT2012C01J0401) supported by the Group Innovative Fund,China
文摘Many industry processes can be described as Hammerstein-Wiener nonlinear systems. In this work, an improved constrained model predictive control algorithm is presented for Hammerstein-Wiener systems. In the new approach, the maximum and minimum of partial derivative for input and output nonlinearities are solved in the neighbourhood of the equilibrium. And several parameter-dependent Lyapunov functions, each one corresponding to a different vertex of polytopic descriptions models, are introduced to analyze the stability of Hammerstein-Wiener systems, but only one Lyapunov function is utilized to analyze system stability like the traditional method. Consequently, the conservation of the traditional quadratic stability is removed, and the terminal regions are enlarged. Simulation and field trial results show that the proposed algorithm is valid. It has higher control precision and shorter blowing time than the traditional approach.
基金Project(50775225) supported by the National Natural Science Foundation of ChinaProjects(CSTC, 2008AC6097, 2008BA6025) supported by National Natural Science Foundation of Chongqing, China
文摘A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.