This paper presents an intelligent control strategy for an active MacPherson suspension driven
by a pneumatic muscle (PM) actuated system and evaluates its improved control performance on a selfdeveloped test-rig. To fulfill the fully-functional test and analysis of active suspension systems, this test-rig
comprises three units: 1. an active MacPherson suspension unit, which consists of a PM mechanism and two
MacPherson struts, is built to isolate vibration from road disturbances; 2. a road profile generator (RPG)
unit, which can produce a vertical force to lift the car-body according to various road profiles; 3. a PC-based
control (PBC) unit, which computes, sends and receives signals for both of the active MacPherson suspension
and the PC-based control unit. The objective of this study is to improve the MacPherson suspension in
terms of the capability of road vibration isolation by using the PM actuation that can actively provide extra
compensatory force for MacPherson struts. Then, for motion control of the PM, this study employs an
interval type-2 adaptive fuzzy controller to approximate the optimal control law and adopts a self-tuning and
fuzzy sliding mode compensator to compensate unmodeled dynamics for the active MacPherson suspension
system. Three experiments are conducted to compare the active MacPherson suspension system with the
original MacPherson struts through various road profiles on the test-rig. The results show the significant
improvement for the proposed active MacPherson suspension system in suppressing the displacement and acceleration of the car-body.
