The Design of an Integrated Control System in Heavy Vehicles Based on an LPV Method

Abstract

In this paper an integrated control structure with individual active control mechanisms, i.e. active anti-roll bars, active suspensions, and an active brake mechanism, is proposed. Its purpose is to improve rollover prevention, passenger comfort, road holding and guarantee the suspension working space. In the control design the performance specifications both for rollover and suspension problems, and the model uncertainties are taken into consideration. In the weighting strategy of control design fault information is also taken into consideration. The design of the control system is based on an H ∞ Linear Parameter Varying (LPV) method. To enhance the performance of the controlled system, the control mechanism is extended with a prediction procedure, in which an observer-based prediction algorithm is proposed.