Abstract
Inthis paper we realize the design of a mixed suspension system(an actuator in tandem with a conventional passive suspension)for the axletree of a road vehicle based on a linear model withfour degrees of freedom. We propose an optimal control law thataims to optimize the suspension performance while ensuring thatthe magnitude of the forces generated by the two actuators andthe total forces applied between wheel and body never exceedgiven bounds. The solution we derive takes the form of an adaptivecontrol law that switches between different constant state feedbackgains. The results of our simulations show that the bound onthe active forces is a design parameter useful for establishinga trade-off between performance and power requirement.
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