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Robust quantised control for active suspension systems

Robust quantised control for active suspension systems

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  • Author(s): H. Li 1, 2 ; H. Gao 1 ; H. Liu 2
    • View affiliations
    • Affiliations: 1: Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, People's Republic of China
      2: Intelligent Systems and Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, Portsmouth, UK
  • Source: Volume 5, Issue 17, 17 November 2011, p. 1955 – 1969
    DOI:  10.1049/iet-cta.2010.0681 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

This study investigates the robust quantised H∞ control problem for active suspension systems. First, based on the half-vehicle suspension model, the dynamical system with polytopic parameter uncertainties, which are caused by vehicle load variation, is established. In the meanwhile, the active suspension system performance, namely ride comfort, road holding and suspension deflection, are taken into account for the control design aim. Secondly, an input delay approach is utilised to transform the resulting active vehicle suspension system with sampling and quantisation measurements into a continuous-time system with a delay in the input sector bound uncertainty. Thirdly, robust quantised H∞ performance analysis and controller synthesis criteria are presented in the form of convex optimisation problem by exploiting the Lyapunov functional approach. The existing robust quantised H∞ controller condition not only guarantees the robust asymptotical stability of the closed-loop system, but also satisfies the output constrained performance. Finally, the effectiveness and application of the proposed method can be demonstrated by providing a design example.

Inspec keywords: suspensions (mechanical components); delays; robust control; continuous time systems; asymptotic stability; road vehicles; vehicle dynamics; H∞ control; closed loop systems; Lyapunov methods; convex programming; control system synthesis

Other keywords: active suspension systems; convex optimisation problem; closed-loop system; vehicle load variation; Lyapunov functional approach; robust asymptotical stability; continuous-time system; input delay approach; robust quantised H∞ control problem; half-vehicle suspension model; controller synthesis criteria

Subjects: Control technology and theory (production); Vehicle mechanics; Mechanical components; Optimisation techniques; Optimal control; Distributed parameter control systems; Road-traffic system control; Stability in control theory; Control system analysis and synthesis methods

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