Velocity-dependent multi-objective control of vehicle suspension with preview measurements

Abstract This paper presents a velocity-dependent multi-objective control method to solve the problem of preview control with velocity uncertainty. A half-car model is considered, the Pade approach is used to approximate the preview delay so as to rewrite it in a finite-dimensional description. It is assumed that the forward velocity of the vehicle resides in an interval and can be measured in real time. The controller, whose gain matrix depends on the information of the velocity, is designed by utilizing the polynomial parameter-dependent idea. The design procedure is developed based on homogeneous polynomial parameter-dependent matrices with arbitrary degree, with quadratic and linear parameter-dependent frameworks as special cases of this method. As the degree increases, the proposed controller can yield less conservative result. A linear parameter-dependent (LPV) controller has also been proposed for the system under time-varying velocity. Simulation results illustrate the usefulness and the advantages of the proposed methods.

[1]  Hamid Reza Karimi,et al.  Output-Feedback-Based $H_{\infty}$ Control for Vehicle Suspension Systems With Control Delay , 2014, IEEE Transactions on Industrial Electronics.

[2]  Mohammed El Madany,et al.  Optimal Preview Control of Active Suspensions with Integral Constraint , 2003 .

[3]  John McPhee,et al.  A study of volumetric contact modelling approaches in rigid tyre simulation for planetary rover application , 2014 .

[4]  Rui Esteves Araujo,et al.  Real-time estimation of tyre-road friction peak with optimal linear parameterisation , 2012 .

[5]  Yang Shi,et al.  Robust finite frequency H∞ static-output-feedback control with application to vibration active control of structural systems , 2014 .

[6]  Graziano Chesi.  Establishing tightness in robust Hinfinity analysis via homogeneous parameter-dependent Lyapunov functions , 2007, Autom..

[7]  Junmin Wang,et al.  Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling , 2014 .

[8]  Javad Marzbanrad,et al.  Stochastic optimal preview control of a vehicle suspension , 2004 .

[9]  Ahmad Akbari,et al.  Output feedback H ∞/GH 2 preview control of active vehicle suspensions: a comparison study of LQG preview , 2010 .

[10]  Huijun Gao,et al.  A new design of robust H2 filters for uncertain systems , 2008, Syst. Control. Lett..

[11]  James Lam,et al.  A Generalized Parameter-Dependent Approach to Robust H∞ Filtering of Stochastic Systems , 2009, Circuits Syst. Signal Process..

[12]  Nong Zhang,et al.  Switched control of vehicle suspension based on motion-mode detection , 2014 .

[13]  Peter Wriggers,et al.  Computational Contact Mechanics , 2002 .

[14]  James Lam,et al.  Multi-objective control of vehicle active suspension systems via load-dependent controllers , 2006 .

[15]  Pierre Apkarian,et al.  Self-scheduled H∞ control of linear parameter-varying systems: a design example , 1995, Autom..

[16]  Hui Zhang,et al.  Robust gain-scheduling energy-to-peak control of vehicle lateral dynamics stabilisation , 2014 .

[17]  Honghai Liu,et al.  Design of robust H ∞ controller for a half-vehicle active suspension system with input delay , 2013, Int. J. Syst. Sci..

[18]  Honghai Liu,et al.  Robust quantised control for active suspension systems , 2011 .

[19]  Jingang Yi,et al.  A Hybrid Physical-Dynamic Tire/Road Friction Model , 2013 .

[20]  Honghai Liu,et al.  Adaptive Sliding-Mode Control for Nonlinear Active Suspension Vehicle Systems Using T–S Fuzzy Approach , 2013, IEEE Transactions on Industrial Electronics.

[21]  Young-Jin Park,et al.  Observer-based wheelbase preview control of active vehicle suspensions , 1998 .

[22]  Nong Zhang,et al.  Takagi-Sugeno fuzzy control scheme for electrohydraulic active suspensions , 2010 .

[23]  Hamid Reza Karimi,et al.  Adaptive H∞ synchronization of master-slave systems with mixed time-varying delays and nonlinear perturbations: An LMI approach , 2011, Int. J. Autom. Comput..

[24]  Henk Nijmeijer,et al.  Robust control of an electromagnetic active suspension system: Simulations and measurements , 2013 .

[25]  Fazel Naghdy,et al.  Robust control of vehicle electrorheological suspension subject to measurement noises , 2011 .

[26]  Ricardo C. L. F. Oliveira,et al.  LMI conditions for robust stability analysis based on polynomially parameter-dependent Lyapunov functions , 2006, Syst. Control. Lett..

[27]  James Lam,et al.  Necessary and Sufficient Conditions for Analysis and Synthesis of Markov Jump Linear Systems With Incomplete Transition Descriptions , 2010, IEEE Transactions on Automatic Control.

[28]  Huijun Gao,et al.  Active Suspension Control With Frequency Band Constraints and Actuator Input Delay , 2012, IEEE Transactions on Industrial Electronics.

[29]  Huijun Gao,et al.  Adaptive Backstepping Control for Active Suspension Systems With Hard Constraints , 2013, IEEE/ASME Transactions on Mechatronics.

[30]  Hamid Reza Karimi,et al.  Control design for a hypersonic aircraft using a switched linear parameter-varying system approach , 2013, J. Syst. Control. Eng..

[31]  Xiaozhan Yang,et al.  Fuzzy control of nonlinear electromagnetic suspension systems , 2014 .

[32]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[33]  H. R. Karimi,et al.  Semiactive Control Methodologies for Suspension Control With Magnetorheological Dampers , 2012, IEEE/ASME Transactions on Mechatronics.

[34]  Yan Shen,et al.  Robust modelling and control of vehicle active suspension with MR damper , 2008 .

[35]  E. K. Bender,et al.  Optimum Linear Preview Control With Application to Vehicle Suspension , 1968 .

[36]  Huijun Gao,et al.  H ∞ filter design for discrete delay systems: a new parameter-dependent approach , 2009, Int. J. Control.

[37]  Hui Zhang,et al.  Robust H∞ sliding-mode control for Markovian jump systems subject to intermittent observations and partially known transition probabilities , 2013, Syst. Control. Lett..

[38]  D. A. Crolla,et al.  A study of a Kalman filter active vehicle suspension system using correlation of front and rear wheel road inputs , 2000 .

[39]  Huijun Gao,et al.  Robust control synthesis for seat suspension systems with actuator saturation and time-varying input delay , 2010 .

[40]  Fazel Naghdy,et al.  Velocity-dependent robust control for improving vehicle lateral dynamics , 2011 .

[41]  R. J. Pinnington.  Tyre–road contact using a particle–envelope surface model , 2013 .

[42]  Ricardo C. L. F. Oliveira,et al.  Parameter-Dependent LMIs in Robust Analysis: Characterization of Homogeneous Polynomially Parameter-Dependent Solutions Via LMI Relaxations , 2007, IEEE Transactions on Automatic Control.

[43]  Honghai Liu,et al.  Reliable Fuzzy Control for Active Suspension Systems With Actuator Delay and Fault , 2012, IEEE Transactions on Fuzzy Systems.

[44]  Graziano Chesi,et al.  Polynomially parameter-dependent Lyapunov functions for robust stability of polytopic systems: an LMI approach , 2005, IEEE Transactions on Automatic Control.

[45]  Huijun Gao,et al.  Saturated Adaptive Robust Control for Active Suspension Systems , 2013, IEEE Transactions on Industrial Electronics.