Road adaptive active suspension design using linear parameter-varying gain-scheduling

This paper presents a novel approach to the design of road adaptive active suspensions via a combination of linear parameter-varying control and nonlinear backstepping techniques. Two levels of adaptation are considered: the lower level control design shapes the nonlinear characteristics of the vehicle suspension as a function road conditions, while the higher level design involves adaptive switching between these different nonlinear characteristics, based on the road conditions. A quarter car suspension model with a nonlinear dynamic model of the hydraulic actuator is employed. The suspension deflection, car body acceleration, hydraulic pressure drop, and spool valve displacement are used as feedback signals. Nonlinear simulations show that these adaptive suspension controllers provide superior passenger comfort over the whole range of road conditions.

[1]  K. C. Cheok,et al.  An application of explicit self-tuning controller to vehicle active suspension systems , 1990, 29th IEEE Conference on Decision and Control.

[2]  A. Packard,et al.  Robust performance of linear parametrically varying systems using parametrically-dependent linear feedback , 1994 .

[3]  J.K. Hedrick,et al.  Adaptive Observer for Active Automotive Suspensions , 1993, 1993 American Control Conference.

[4]  Malcolm C. Smith.  ACHIEVABLE DYNAMIC RESPONSE FOR AUTOMOTIVE ACTIVE SUSPENSIONS. , 1995 .

[5]  Davorin David Hrovat.  Applications of Optimal Control to Advanced Automotive Suspension Design , 1993 .

[6]  T D Gillespie,et al.  Fundamentals of Vehicle Dynamics , 1992 .

[7]  D. Hrovat,et al.  Optimal active suspension structures for quarter-car vehicle models , 1990, Autom..

[8]  Jung-Shan Lin,et al.  Adaptive Nonlinear Control in Active Suspensions , 1996 .

[9]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[10]  Andrew G. Alleyne,et al.  Application of Nonlinear Control Theory to Electronically Controlled Suspensions , 1993 .

[11]  Dean Karnopp,et al.  Theoretical Limitations in Active Vehicle Suspensions , 1986 .

[12]  Jung-Shan Lin,et al.  Road-adaptive nonlinear design of active suspensions , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[13]  H. E. Merritt,et al.  Hydraulic Control Systems , 1991 .

[14]  K Kawagoe,et al.  SEMI-ACTIVE CONTROL AND OPTIMUM PREVIEW CONTROL APPLICATIONS TO VEHICLE SUSPENSION , 1985 .

[15]  Jung-Shan Lin,et al.  Nonlinear design of active suspensions , 1997 .

[16]  Rajesh Rajamani,et al.  Adaptive observers for active automotive suspensions: theory and experiment , 1995, IEEE Trans. Control. Syst. Technol..

[17]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[18]  Tetsuro Butsuen,et al.  Invariant Properties of Automotive Suspensions , 1990 .

[19]  Jung-Shan Lin,et al.  Nonlinear design of active suspensions , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.