Communication-Constrained Active Suspension Control for Networked In-Wheel Motor-Driven Electric Vehicles With Dynamic Dampers

Abstract

This paper is concerned with the networked active suspension control problem for in-wheel motor-driven electric vehicles subject to communication constraints, including intermittent data transmissions, quantized output measurements and network-induced transmission delays. The central goal is to develop a resource-efficient communication and active suspension control co-design approach such that the limited in-vehicle network resources are occupied in an efficient manner, while simultaneously achieving the desired suspension system performance. For this purpose, a networked data transmission framework, incorporating a dynamic event-triggered communication mechanism and a logarithmic quantizer, is developed to accommodate the intermittent and digitalized packet-based transmissions over the in-vehicle controller area network channels. Specifically, the event triggering mechanism sporadically selects the sampled sensor data packets to be transmitted, which are then quantized before sending over the network channels. Then, formal stability and suspension performance analysis is carried out, and a co-design criterion on the existence of the desired triggering mechanism and event-triggered output feedback controller is further derived. Finally, the effectiveness and merits of the derived results are substantiated via several numerical case studies.