Design of μ – controller for quarter electric vehicle with actuator uncertainties

Abstract

This research paper deals with the design of a robust controller for a quarter Electric Vehicle based active suspension system. When the vehicle hits the bump on the road, the active suspension system and the hydraulic actuator of the vehicle will inject the forces into the system to tune the performance. But, unfortunately, the injected force is not sufficient for fine-tuning performance. Here two control methods are proposed for controller design. Initially, H – infinity controller is designed for the nominal plant model for guarantee performance, and then an uncertain model is developed based on actuator uncertainty and designed a robust controller using μ-synthesis. The time-domain simulations using MATLAB (version 2021a) are carried out for nominal and uncertain models and results show that the μ-controller shows superior performance for balanced profile compared with passive and H – infinity controller. Finally, a quarter electric vehicle test rig is developed, experimental results are presented and discussed.