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Suspension control requires good balance between ride comfort and driving stability，while considering system uncertainties，which is a complex task. In this paper，a disturbance observer-based suboptimal-nonsingular terminal sliding mode switching control algorithm （DOB-SNTSM） is proposed，with considerations of suspension dynamic performance indicators，algorithm robustness，and cost factors. Firstly，using spring mass acceleration information as input and by Kalman filter design，effective estimation of suspension deflection and spring mass velocity is achieved. Subsequently，a disturbance observer is devised to estimate uncertainties within the suspension system，with the disturbance estimation serving as feedforward compensation. Next，based on the sliding mode surface function，a suboptimal-nonsingular terminal sliding mode switching control algorithm is proposed，integrating with the feedforward compensation from the disturbance observer to formulate a novel active suspension control strategy. Finally，simulation and bench tests are conducted on both convex road surfaces and smooth random road surfaces. The results show that the introduction of disturbance observers can significantly improve the ride comfort index of the suspension. Compared to the SNTSM algorithm with the classical sky-hook control，the ideal state LQR method and without disturbance observer，the new algorithm not only effectively balances various suspension performance indicators but also achieves control effect close to the ideal state LQR using solely spring mass acceleration information. Additionally，the controller switching scheme significantly enhances algorithm robustness.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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