Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers

Saralegui Esteve, Carlos; Meléndez-Useros, Miguel; Viadero-Monasterio, Fernando

doi:10.3390/act15030132

Open AccessArticle

Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers

by

Carlos Saralegui Esteve

,

Miguel Meléndez-Useros

and

Fernando Viadero-Monasterio

^*

Mechanical Engineering Department, Advanced Vehicle Dynamics and Mechatronic Systems (VEDYMEC), Universidad Carlos III de Madrid, Avda. de la Universidad 30, 28911 Leganés, Spain

^*

Author to whom correspondence should be addressed.

Actuators 2026, 15(3), 132; https://doi.org/10.3390/act15030132

Submission received: 26 January 2026 / Revised: 16 February 2026 / Accepted: 24 February 2026 / Published: 26 February 2026

(This article belongs to the Special Issue Active Disturbance Rejection Control: Theory, Design, and Applications in Advanced Actuation Systems)

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Abstract

Through this paper, an active disturbance rejection control scheme is designed based on an extended state observer capable of estimating the system’s internal variables and external disturbances without the need for expensive sensors and also attenuates sensor-induced noise, supporting cleaner measurements. The extended state observer is dynamically adjusted using fuzzy logic techniques. The proposed method is validated in Matlab/Simulink, with the results showing a significant reduction in both body displacement and acceleration compared to passive suspension systems, representing a direct improvement in vehicle stability and ride comfort; this demonstrates the robustness and adaptability of the proposed system. The evaluation covers three road excitations, sinusoidal, step, and trapezoidal, to broaden the analysis under both smooth and abrupt disturbances.

Keywords: vehicle suspension; active suspension; vehicle safety; vehicle comfort

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MDPI and ACS Style

Saralegui Esteve, C.; Meléndez-Useros, M.; Viadero-Monasterio, F. Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers. Actuators 2026, 15, 132. https://doi.org/10.3390/act15030132

AMA Style

Saralegui Esteve C, Meléndez-Useros M, Viadero-Monasterio F. Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers. Actuators. 2026; 15(3):132. https://doi.org/10.3390/act15030132

Chicago/Turabian Style

Saralegui Esteve, Carlos, Miguel Meléndez-Useros, and Fernando Viadero-Monasterio. 2026. "Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers" Actuators 15, no. 3: 132. https://doi.org/10.3390/act15030132

APA Style

Saralegui Esteve, C., Meléndez-Useros, M., & Viadero-Monasterio, F. (2026). Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers. Actuators, 15(3), 132. https://doi.org/10.3390/act15030132

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Active Disturbance Rejection Control of an Active Suspension System Based on Fuzzy Extended State Observers

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