Nonlinear H∞ control for semi-active suspension

Abstract

This paper describes the development of a damping control system for semi-active suspension which is based on nonlinear H ∞ control theory instead of conventional linear control theory. A two degrees of freedom system is used as the structure for the vehicle suspension model. Since the structure is bilinear, it's not easy to design the controller. We designed the controller based on the Hamilton-Jacobi inequality by solving a linear Riccati equation. We were able to verify by simulation that nonlinear H ∞ control theory made it possible to control vehicle vibration optimally and smoothly.