Enhancement of vehicle stability based on variable geometry suspension and robust LPV control

The paper focuses on the enhancement of vehicle stability using a variable geometry suspension system. The purpose is to follow a predefined trajectory on the road required by the driver. The designed driver assistance system supports the driver in performing the various vehicle maneuvers, such as cornering and overtaking. While the driver performs a maneuver by using the steering wheel, an autonomous control system influences the camber angles of the rear wheels by using a variable geometry suspension system. The control design is based on robust LPV methods, which meet the performance specifications and guarantee robustness against model uncertainties. The operation of the control system is illustrated through different vehicle maneuvers.

[1]  Ramon Sancibrian,et al.  Kinematic design of double-wishbone suspension systems using a multiobjective optimisation approach , 2010 .

[2]  Veljko Potkonjak,et al.  Modelling and control of active systems with variable geometry. Part I: General approach and its application , 2000 .

[3]  Philip E. Gill,et al.  Practical optimization , 1981 .

[4]  Charles Poussot-Vassal,et al.  Attitude and Handling Improvements Through Gain-scheduled Suspensions and Brakes Control , 2008 .

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

[6]  Robin S. Sharp.  Variable geometry active suspension for cars , 1998 .

[7]  U Lee,et al.  A suspension system with a variable roll centre for the improvement of vehicle handling characteristics , 2001 .

[8]  Wen-Fang Xie,et al.  New model and simulation of Macpherson suspension system for ride control applications , 2009 .

[9]  Avesta Goodarzi,et al.  Design and analysis of an intelligent controller for active geometry suspension systems , 2011 .

[10]  U K Lee,et al.  Active geometry control suspension system for the enhancement of vehicle stability , 2008 .

[11]  Péter Gáspár,et al.  Active suspension design using linear parameter varying control , 2003 .

[12]  J. Bokor,et al.  Linear parameter varying systems: A geometric theory and applications , 2005 .

[13]  Fen Wu,et al.  Induced L2‐norm control for LPV systems with bounded parameter variation rates , 1996 .

[14]  Ansgar Trächtler,et al.  Integrated vehicle dynamics control using active brake, steering and suspension systems , 2004 .

[15]  Wei-Bin Zhang,et al.  Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons , 2000, IEEE Trans. Control. Syst. Technol..

[16]  R. S. Sharp,et al.  MECHANICAL AND CONTROL DESIGN OF A VARIABLE GEOMETRY ACTIVE SUSPENSION SYSTEM , 1999 .

[17]  이상호.  Enhancement of Vehicle Handling Characteristics by Suspension Kinematic Control , 2000 .

[18]  Thomas F. Coleman,et al.  A Reflective Newton Method for Minimizing a Quadratic Function Subject to Bounds on Some of the Variables , 1992, SIAM J. Optim..

[19]  J. Karl Hedrick,et al.  Vehicle Speed Estimation Using Accelerometer and Wheel Speed Measurements , 2002 .

[20]  Péter Gáspár,et al.  Parameter identification of a suspension system and road disturbance estimation , 2007 .

[21]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[22]  Gary J. Balas,et al.  Design of Nonlinear Controllers for Active Vehicle Suspensions Using Parameter-Varying Control Synthesis , 2000 .