{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:46:55Z","timestamp":1777927615194,"version":"3.51.4"},"reference-count":53,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2025,4,4]],"date-time":"2025-04-04T00:00:00Z","timestamp":1743724800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51805223"],"award-info":[{"award-number":["51805223"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51875257"],"award-info":[{"award-number":["51875257"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2025,8]]},"abstract":"<jats:p>As a novel control model, the inertance and damping double-skyhook configuration offers a straightforward algorithm and demonstrates flexibility in adapting to different road conditions and loads. However, current research on the double-skyhook configuration focuses primarily on minimizing the vertical vibration to enhance ride comfort, and there is a lack of research on the full-car multiple degrees of freedom (multi-DOF) comprehensive control concerning ride comfort and handling safety. This paper builds on the full-car model, revealing the deficiency that the double-skyhook control strategy overly optimizes car body acceleration, leading to drastic changes in car attitude and significantly compromising handling safety. To address the issue, a hierarchical control strategy is proposed to suppress full-car motion with multi-DOF. The control strategy incorporates a fuzzy control approach based on the double-skyhook configuration. The lower-level controller employs a double-skyhook control strategy to restrain vertical vibrations. The upper-level controller employs a variable universe fuzzy control to coordinate the optimal double-skyhook control forces, suppressing pitch and roll vibrations, thereby achieving a coordinating control of full-car. The 7-DOF full-car suspension model with hierarchical control is set up, followed by simulation analysis and semi-physical experiments. The results indicate that, compared to the double-skyhook suspension, the handling safety of the suspension has been significantly improved while maintaining ride comfort, effectively demonstrating the necessity and benefits of introducing hierarchical control in car suspension systems.<\/jats:p>","DOI":"10.1177\/09596518251326955","type":"journal-article","created":{"date-parts":[[2025,4,5]],"date-time":"2025-04-05T02:26:05Z","timestamp":1743819965000},"page":"1180-1197","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Hierarchical control for car attitude with double-skyhook semi-active ISD suspension"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0241-5114","authenticated-orcid":false,"given":"Jiamei","family":"Nie","sequence":"first","affiliation":[{"name":"School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiangong","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5368-3664","authenticated-orcid":false,"given":"Xiaoliang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiayao","family":"Zhu","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,4,4]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2010.532223"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2013.09.012"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1002\/eqe.867"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1504\/IJVD.2005.007622"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3281673"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.matcom.2021.08.016"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/1077546318791023"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/10775463211009377"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2005.861167"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsv.2021.116160"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/SMASIS2013-3049"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2218615"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-023-08279-z"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ac008f"},{"key":"e_1_3_2_16_2","first-page":"875","volume-title":"Proceedings of the 5th international conference on industrial engineering (ICIE 2019) Volume I","volume":"5","author":"Novikov V","year":"2019","unstructured":"Novikov V, Pozdeev A, Chumakov D. Results of bench tests of pneumatic suspension with air-hydraulic damping. In: Proceedings of the 5th international conference on industrial engineering (ICIE 2019) Volume I5, 2019, pp. 875\u2013882. Springer."},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1007\/s40815-022-01357-1"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2022.10.001"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3035896"},{"issue":"14","key":"e_1_3_2_20_2","article-title":"Suspension control applications of magnetorheological damper magic formula model","volume":"31","author":"Zhang L","year":"2020","unstructured":"Zhang L, Pang Q, Pan F, et al. Suspension control applications of magnetorheological damper magic formula model. China Mechanical Engineering 2020; 31(14): 1659.","journal-title":"China Mechanical Engineering"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1002\/stc.2415"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2018.11.011"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1177\/10775463221074078"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3438373"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.3389\/fmats.2022.933076"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3210171"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.3390\/en14061674"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.3390\/electronics9091518"},{"issue":"14","key":"e_1_3_2_29_2","first-page":"168","article-title":"Hydraulic-electrical energy regenerative semi-active hydro-pneumatic suspension system based on a modified skyhook damping control algorithm","volume":"37","author":"Zhou C","year":"2018","unstructured":"Zhou C, Wen G. Hydraulic-electrical energy regenerative semi-active hydro-pneumatic suspension system based on a modified skyhook damping control algorithm. J Vib Shock 2018; 37(14): 168\u2013174.","journal-title":"J Vib Shock"},{"issue":"2","key":"e_1_3_2_30_2","first-page":"140687","article-title":"Dynamic performance and stability analysis of an active inerter-based suspension with time-delayed acceleration feedback control","volume":"70","author":"Wang Y","year":"2022","unstructured":"Wang Y, Jin XY, Zhang YS, et al. Dynamic performance and stability analysis of an active inerter-based suspension with time-delayed acceleration feedback control. Bull Pol Acad Sci Tech Sci 2022; 70(2): 140687.","journal-title":"Bull Pol Acad Sci Tech Sci"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1155\/2024\/3495503"},{"key":"e_1_3_2_32_2","article-title":"Performance enhancements of semi-active vehicle air isd suspension","volume":"0954407024123","author":"Shen Y","year":"2024","unstructured":"Shen Y, Chen A, Du F, et al. Performance enhancements of semi-active vehicle air isd suspension. Proc IMechE, Part D: J Automobile Engineering 2024; 0954407024123 3024.","journal-title":"Proc IMechE, Part D: J Automobile Engineering"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4033357"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1002\/stc.3040"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2015.1037313"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2149"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/AIM46323.2023.10196112"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1177\/09544070211020897"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1177\/1461348419876392"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2019.09.106"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3153805"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2358583"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2024.3359057"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1177\/09596518221112553"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2024.3450182"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3272529"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2024.111280"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1063\/5.0198095"},{"key":"e_1_3_2_49_2","volume-title":"Vehicle system dynamics","author":"Yufan L.","year":"2017","unstructured":"Yufan L. Vehicle system dynamics, 2nd. Beijing, China: China Machine Press. 2017."},{"issue":"3","key":"e_1_3_2_50_2","first-page":"398","article-title":"Simulation method of road excitation in time domain using filtered white noise and dynamic analysis of suspension","volume":"45","author":"Yin J","year":"2017","unstructured":"Yin J, Chen X, Lixin WU, et al. Simulation method of road excitation in time domain using filtered white noise and dynamic analysis of suspension. J Tongji Univ 2017; 45(3): 398\u2013407.","journal-title":"J Tongji Univ"},{"key":"e_1_3_2_51_2","doi-asserted-by":"crossref","unstructured":"Ma K Zhang Y Zhen X. Simulation of pavement random excitation based on harmonic superposition method. Int J Sci Adv 2021; 2: 282\u2013285.","DOI":"10.51542\/ijscia.v2i3.9"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1155\/2023\/7020462"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2024.3493878"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1360\/02ye9026"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518251326955","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/09596518251326955","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518251326955","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:47:55Z","timestamp":1777675675000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/09596518251326955"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,4]]},"references-count":53,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2025,8]]}},"alternative-id":["10.1177\/09596518251326955"],"URL":"https:\/\/doi.org\/10.1177\/09596518251326955","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4,4]]}}}