以非线性二自由度主动悬架系统为研究对象，将天棚模型和扰动观测器的滑模控制算法相结合，提出了基于天棚模型和扰动观测器的滑模控制算法，并证明了系统的一致有界和一致最终有界。天棚模型中的簧载质量位移和速度给主动悬架系统中的簧载质量位移和速度提供参考轨迹; 扰动观测器用于估计由悬架系统中悬架弹簧力、减振器阻尼力和作用在簧载质量上的外界干扰引起的簧载质量的扰动量。文中还在阶跃路面激励和随机路面激励下，根据主动悬架系统实验结果，验证了提出的控制算法的可行性;并在阶跃路面激励下，基于非线性二自由度主动悬架模型，计算了线性二次型最优控制(LQR)、具有扰动观测器的滑模控制 (DOSMC) 和基于天棚模型和扰动观测器的滑模控制 (RMDOSMC) 下主动悬架系统中簧载质量加速度、悬架动行程和轮胎动载荷的性能指标。与 LQR 和 DOSMC 控制相比，采用 RMDOSMC 控制时，主动悬架系统可以获得更优的性能指标。

A sliding mode control with disturbance observer integrating skyhook model (RMDOSMC) was proposed to improve the performance of active suspension systems (ASSs)． The uniform boundedness and uniform ultimate boundedness of ASSs were proved． The sprung mass displacement and speed of skyhook model can provide refe-rence trajectory for that of the sprung mass in ASSs． The disturbance observer is designed for estimating uncertain-ties in ASSs，which are external disturbance force acting on the sprung mass and parameters of suspension stiffness and damping． Under the road excitation of step and random，experimental results were presented to validate the ef-fectiveness of the proposed approach． Furthermore，under the road excitation of step，the performance indexes，in-cluding acceleration of the sprung mass，the suspension deflection and the dynamical load of tire，were calculated by using the linear quadratic optimal control ( LQR)，the sliding model control with disturbance observer (DOSMC) and the proposed control． Compared with the linear quadratic optimal control and the sliding mode con-trol with disturbance observer，ASSs with the proposed control can obtain better performance indexes．