Multi-objective control for active vehicle suspension with wheelbase preview

Abstract This paper presents a multi-objective control method with wheelbase preview for active vehicle suspension. A four-degree-of-freedom half-car model with active suspension is considered in this study. H ∞ norm and generalized H 2 norm are used to improve ride quality and ensure that hard constraints are satisfied. Disturbances at the front wheel are obtained as preview information for the rear wheel. Static output-feedback is utilized in designing controllers, the solution is derived by iterative linear matrix inequality (ILMI) and cone complementarity linearization (CCL) algorithms. Simulation results confirm that multi-objective control with wheelbase preview achieves a significant improvement of ride quality (a maximum 27 percent and 60 percent improvement on vertical and angular acceleration, respectively) comparing with that of control without preview, while suspension deflections, tyre deflections and actuator forces remaining within given bounds. The extent of the improvement on the ride quality for different amount of preview information used is also illustrated.

[1]  Huijun Gao,et al.  Finite Frequency $H_{\infty }$ Control for Vehicle Active Suspension Systems , 2011, IEEE Transactions on Control Systems Technology.

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

[3]  Javad Marzbanrad,et al.  OPTIMAL PREVIEW CONTROL DESIGN OF AN ACTIVE SUSPENSION BASED ON A FULL CAR MODEL , 2003 .

[4]  M. Tomizuka.  Optimal continuous finite preview problem , 1975 .

[5]  Ahmad Akbari,et al.  Multi-objective preview control of active vehicle suspensions: Experimental results , 2010, 2010 2nd International Conference on Advanced Computer Control.

[6]  Gregory D. Buckner,et al.  Multi-objective control optimization for semi-active vehicle suspensions , 2011 .

[7]  B. R. Davis,et al.  Computation of the rms state variables and control forces in a half-car model with preview active suspension using spectral decomposition methods , 2005 .

[8]  Huijun Gao,et al.  Comments and further results on "A descriptor system approach to H∞ control of linear time-delay systems" , 2003, IEEE Trans. Autom. Control..

[9]  Eugene J. O'Brien,et al.  The use of vehicle acceleration measurements to estimate road roughness , 2008 .

[10]  Guido Koch,et al.  Driving State Adaptive Control of an Active Vehicle Suspension System , 2014, IEEE Transactions on Control Systems Technology.

[11]  L.V.V. Gopala Rao,et al.  Preview control of random response of a half-car vehicle model traversing rough road , 2008 .

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

[13]  Ahmad Akbari,et al.  Multi-objective preview control of active vehicle suspensions , 2008 .

[14]  I. Youn,et al.  PREVIEW CONTROL OF ACTIVE SUSPENSION WITH INTEGRAL ACTION , 2006 .

[15]  Azim Eskandarian,et al.  Influence of preview uncertainties in the preview control of vehicle suspensions , 2002 .

[16]  Haiping Du,et al.  Fuzzy Control for Nonlinear Uncertain Electrohydraulic Active Suspensions With Input Constraint , 2009, IEEE Trans. Fuzzy Syst..

[17]  W. Yan.  Static Output Feedback Stabilization , 2006, TENCON 2006 - 2006 IEEE Region 10 Conference.

[18]  S. Narayanan,et al.  Optimal semi-active preview control response of a half car vehicle model with magnetorheological damper , 2009 .

[19]  Goodarz Ahmadi,et al.  Optimal Active Control of Vehicle Suspension System Including Time Delay and Preview for Rough Roads , 2002 .

[20]  Charles E. M. Pearce,et al.  Direct Computation of the Performance Index for an Optimally Controlled Active Suspension with Preview Applied to a Half-Car Model , 2001 .

[21]  Ahmad Akbari,et al.  Output feedback H ∞ preview control of active vehicle suspensions , 2008 .

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

[23]  Xuerong Mao,et al.  Stochastic differential equations and their applications , 1997 .

[24]  Huijun Gao,et al.  Adaptive Robust Vibration Control of Full-Car Active Suspensions With Electrohydraulic Actuators , 2013, IEEE Transactions on Control Systems Technology.

[25]  Keum-Shik Hong,et al.  Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning , 2002 .

[26]  Youngjin Park,et al.  STOCHASTIC OPTIMAL PREVIEW CONTROL OF AN ACTIVE VEHICLE SUSPENSION , 1999 .

[27]  James Lam,et al.  Static Output Feedback Stabilization: An ILMI Approach , 1998, Autom..

[28]  Ruben Morales-Menendez,et al.  Road Adaptive Semi-Active Suspension in an Automotive Vehicle using an LPV Controller , 2013 .

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

[30]  Timothy Gordon,et al.  A Comparison of Adaptive LQG and Nonlinear Controllers for Vehicle Suspension Systems , 1991 .

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

[32]  Huijun Gao,et al.  Finite Frequency H∞ Control for Vehicle Active Suspension Systems , 2011 .

[33]  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 .

[34]  Zhengchao Xie,et al.  Design of an Active Vehicle Suspension Based on an Enhanced PID Control with Wheelbase Preview and Tuning Using Genetic Algorithm , 2012 .

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

[36]  Zhang Jian-wu,et al.  Performance analysis of limited bandwidth active suspension with preview based on a discrete time model , 2010 .

[37]  James Lam,et al.  ℓ1ℓ1-induced Norm and Controller Synthesis of Positive Systems , 2013, Autom..

[38]  Aleksander Hac.  Optimal Linear Preview Control of Active Vehicle Suspension , 1992 .

[39]  Nong Zhang,et al.  Semi-active variable stiffness vibration control of vehicle seat suspension using an MR elastomer isolator , 2011 .

[40]  Giampiero Mastinu,et al.  Multi-objective stochastic optimisation of the suspension system of road vehicles , 2006 .

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

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

[43]  Chen Long,et al.  Non-linear modelling and control of semi-active suspensions with variable damping , 2013 .

[44]  Shengyuan Xu,et al.  Delay-dependent H ∞ controller design for linear neutral systems with discrete and distributed delays , 2007, Int. J. Syst. Sci..

[45]  Baolin Zhang,et al.  Active vibration H∞ control of offshore steel jacket platforms using delayed feedback , 2013 .

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

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

[48]  Hong Chen,et al.  A multi-objective control design for active suspensions with hard constraints , 2003, Proceedings of the 2003 American Control Conference, 2003..

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

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

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

[52]  Hermann Singer.  A survey of estimation methods for stochastic differential equastions , 2004 .