Abstract
In view of the performance requirements (e.g., ride comfort, road holding, and suspension space limitation) for vehicle suspension systems, this paper proposes an adaptive optimal control method for quarter-car active suspension system by using the approximate dynamic programming approach (ADP). Online optimal control law is obtained by using a single adaptive critic NN to approximate the solution of the Hamilton-Jacobi-Bellman (HJB) equation. Stability of the closed-loop system is proved by Lyapunov theory. Compared with the classic linear quadratic regulator (LQR) approach, the proposed ADP-based adaptive optimal control method demonstrates improved performance in the presence of parametric uncertainties (e.g., sprung mass) and unknown road displacement. Numerical simulation results of a sedan suspension system are presented to verify the effectiveness of the proposed control strategy.
Highlights
Improvement in suspension systems plays an important role in achieving the goals of pursuing more comfortable and safer vehicles
Most of the available adaptive optimal control methods are usually based on the dual NN architecture [4,5,6,7], where the critic NN and action NN are employed to approximate the optimal cost function and optimal control policy, respectively
Compared with the conventional linear quadratic regulator (LQR) control approach, simulation results from a quarter-car active suspension system verify the improved performance in terms of ride comfort, road holding, and suspension space limitation for the proposed approximate dynamic programming (ADP)-based controller
Summary
Improvement in suspension systems plays an important role in achieving the goals of pursuing more comfortable and safer vehicles. Most of the available adaptive optimal control methods are usually based on the dual NN architecture [4,5,6,7], where the critic NN and action NN are employed to approximate the optimal cost function and optimal control policy, respectively. An adaptive optimal control method with simplified structure for the quarter-car active suspension system is proposed. Based on the critic NN, the optimal control action is calculated by online solving the HJB equation. Compared with the conventional LQR control approach, simulation results from a quarter-car active suspension system verify the improved performance in terms of ride comfort, road holding, and suspension space limitation for the proposed ADP-based controller.
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