Abstract
A new global chassis control strategy developed in two steps is proposed using the suspension actuators only. First, a robust H∞ Linear Parameter Varying (LPV) suspension controller is designed to ensure robust performance w.r.t parameter uncertainties. The interest of such a controller relies on its inherent structure which allows for performance adaptation through the variation of a scalar coefficient c0. The second step consists in adding a feedforward compensator which controls the anti-roll distribution of the suspension forces to improve the vehicle safety in the presence of longitudinal and lateral disturbances. The control scheme consists in controlling the yaw rate through a model reference control. The global chassis control then relies on the adaptation of the suspension performance (comfort/safety), according to the anti-roll distribution. The interest of the methodology is emphasised through numerical simulations on a full vehicle nonlinear model, including chassis and tyres.
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