Abstract
In order to achieve better dynamics performances of a class of automobile active suspensions with the model uncertainties and input delays, this paper proposes a generalized robust linear H2/H∞ state feedback control approach. First, the mathematical model of a half-automobile active suspension is established. In this model, the H∞ norm of body acceleration is determined as the performance index of the designed controller, and the hard constraints of suspension dynamic deflection, tire dynamic load and actuator saturation are selected as the generalized H2 performance output index of the designed controller to satisfy the suspension safety requirements. Second, a generalized H2/H∞ guaranteed cost state-feedback controller is developed in terms of Lyapunov stability theory. In addition, the Cone Complementarity Linearization (CCL) algorithm is employed to convert the generalized H2/H∞ output-feedback control problem into a finite convex optimization problem (COP) in a linear matrix inequality framework. Finally, a numerical simulation case of this half-automobile active suspension is presented to illustrate the effectiveness of the proposed controller in frequency-domain and time-domain.
Highlights
With the application and implement of automobile suspension design, it is necessary to attain a well balance between the handling stability and ride quality, which are usually contradictive with each other [1,2,3]
In a real engineering application, a class of active suspension system (ASS) should keep the desirable dynamics performance in case of sustaining the model uncertainty caused by the body mass, and the actuator input delay that is unavoidable in the control system, see [11] in detail
Compared with the related studies in [12,13,14,15,16,17,18,19,20,21], the key contribution points lie in the two aspects: (1) a comprehensive dynamics model of ASS is established with incorporating the input delay and parametric uncertainties, and the H∞ norm of the body vertical acceleration is taken as the controller output performance index, the hard constraints of suspension dynamic deflections, tire dynamic loads and the actuator saturations are taken as the generalized H2 performance index for the desirable controller
Summary
With the application and implement of automobile suspension design, it is necessary to attain a well balance between the handling stability and ride quality, which are usually contradictive with each other [1,2,3]. In literature [19], the authors have developed a full-state feedback controller with considering the input delay for a seat suspension system, and this controller achieved better control effects in a certain delay range. These studies inspired our study along this direction. (1) a comprehensive dynamics model of ASS is established with incorporating the input delay and parametric uncertainties, and the H∞ norm of the body vertical acceleration is taken as the controller output performance index, the hard constraints of suspension dynamic deflections, tire dynamic loads and the actuator saturations are taken as the generalized H2 performance index for the desirable controller.
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