Attitude control of a two wheeled vehicle model with pneumatic servo type active suspension

Actively controlled suspensions have been vigorously studied as to how they can simultaneously satisfy both the ride quality and the driving stability which are contrary properties. In this paper, our main purpose is to control the change of attitude on the car body caused by the pitching vibration mode, using the fabricated vehicle model equipped with the pneumatic servo type active suspension. In the case of applying the optimal control method, it is important how to select the state variable and how to determine the performance criterion. Therefore, we investigated the difference of the control performances for the several kinds of the state variables by some experiments.