H fuzzy control of suspension systems with actuator saturation

H fuzzy control of suspension systems with actuator saturation

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This chapter focuses on H, fuzzy control of suspension systems under actuator saturation. The Takagi-Sugeno (T-S) approach is used to model the suspension system (quarter, half and full cars) by interpolation of different local linear models. A nonlinear state feedback control parallel distributed compensation (PDC) is employed for designing control system. The main idea of this controller consists in designing a linear feedback control for each local linear model. To address the input saturation problem, both constrained and saturated control input cases are proposed. In the two cases, H, stabilization conditions are derived using Lyapunov method. Moreover, a controller design with the largest domain of attraction is formulated and solved as a linear matrix inequality optimization problem. An application to quarter-car suspension system is given. Our simulation results show that both saturated and constrained controls can stabilize the resulting closed-loop suspension quarter car via PDC control and eliminate the effect of external disturbances despite the presence of saturation. Indeed, the main roles of car suspension systems which consist of improving ride comfort of passengers and the road holding capacity of the vehicle are achieved.

Chapter Contents:

  • Abstract
  • 8.1 Introduction
  • 8.2 Suspension systems model
  • 8.2.1 Active quarter-car suspension model
  • 8.2.2 Half-car suspension model
  • 8.2.3 Full-car suspension model
  • 8.3 Takagi-Sugeno fuzzy model of suspension systems
  • 8.3.1 Takagi-Sugeno representation of active quarter-car suspension
  • 8.3.2 Takagi-Sugeno representation of active half-car suspension
  • 8.3.3 Takagi-Sugeno representation of active full-car suspension
  • 8.4 Validation of Takagi-Sugeno fuzzy model
  • 8.4.1 Simulation parameters
  • 8.4.2 Validation of Takagi-Sugeno fuzzy model
  • 8.5 Actuator saturation
  • 8.5.1 Types of saturation
  • 8.5.2 Modelling of saturation effect
  • 8.5.3 Saturated control and constrained control
  • 8.6 Quadratic stabilization of Takagi-Sugeno fuzzy model
  • 8.6.1 Convex analysis and linear matrix inequalities
  • 8.6.2 Stability in the sense of Lyapunov
  • 8.6.3 Attraction region
  • 8.6.4 Quadratic stabilization via PDC control
  • 8.7 H ∞ approach
  • 8.8 Analysis of PDC control with external disturbances and actuator saturation
  • 8.8.1 Constrained control
  • 8.8.2 Saturated control
  • 8.8.3 Optimization of the attraction region
  • 8.9 Control design for a quarter-car active suspension system
  • 8.10 Conclusion
  • References

Inspec keywords: H∞ control; suspensions (mechanical components); control nonlinearities; nonlinear control systems; linear matrix inequalities; control system synthesis; state feedback; actuators; fuzzy control; automobiles

Other keywords: Takagi-Sugeno approach; nonlinear state feedback control; road holding capacity; full car; control system designing; parallel distributed compensation; closed-loop suspension quarter car; linear matrix inequality optimization problem; Lyapunov method; suspension systems; external disturbances; quarter-car suspension system; T-S approach; ride comfort improvement; local linear models; actuator saturation; linear feedback control designing; half car; H∞ fuzzy control; PDC control

Subjects: Algebra; Nonlinear control systems; Control system analysis and synthesis methods; Road-traffic system control; Actuating and final control devices; Control technology and theory; Optimal control; Mechanical components; Fuzzy control; Automobile industry; Algebra

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