**4. Conclusions**

In this paper, an adaptive control algorithm for the vehicle height adjustment of nonlinear air suspensions is proposed to improve the vehicle ride comfort. The designed algorithm can track the reference height curve, and the stability of the nonlinear air suspension systems with uncertainties is guaranteed by Lyapunov stability theory. Two different simulations are carried out to verify the effectiveness of the proposed controller. In the case of sinusoidal road input, the controller can track the reference value of body height well and make the corresponding error tend to 0. In the case of random road input, the controller reduces the fluctuation of the vertical parameters and improves the ride comfort. The following research will focus on the experimental verification of the proposed controller.

**Author Contributions:** Methodology, J.Z.; Writing—original draft, Y.Y.; Funding acquisition, C.H. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research was funded by the Guangzhou Science and Technology Plan Project (202201010475, 202201020173) and the National Natural Science Foundation of China (52202492).

**Data Availability Statement:** The data used to support the findings of this study are included within the article.

**Conflicts of Interest:** The authors declare no conflict of interest.

#### **References**


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