Abstract
AbstractA linear quadratic (LQ) based controller and observer concept for a semi-active full-car model is implemented and validated using a real vehicle in this paper. Especially methods for the parametrization of the quadratic cost function are presented and it is shown in experiments, that ride comfort and road holding can be significantly improved by using semi-active suspension control. In order to take the nonlinearities like nonlinear component characteristics or suspension friction into account a parametrized nonlinear full-car model is presented, which is used for the determination of the controller cost function weights. The performance evaluation is done using a 4-poster test rig as well as measurements on a real road.
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