Combined LPV and nonlinear control of an active suspension system

Author

Gáspár, Péter ; Szederkenyi, Gabor

Author_Institution

Hungarian Acad. of Sci., Budapest

fYear

2007

fDate

4-7 June 2007

Firstpage

215

Lastpage

220

Abstract

In this paper, the design of a two-level controller is proposed for active suspension systems. The required control force is computed by applying a high-level controller, which is designed using a linear parameter varying (LPV) method. The suspension structure contains nonlinear components, i.e., the dynamics of the dampings and the springs and the actuator dynamics. The model is augmented with weighting functions specified by the performance demands and the uncertainty assumptions. The actuator generating the necessary control force is a nonlinear state-dependent switching system, for which a low-level backstepping-based force-tracking controller is designed.

Keywords

automotive components; damping; force control; linear systems; nonlinear control systems; springs (mechanical); suspensions (mechanical components); time-varying systems; tracking; active suspension system; actuator dynamics; control force; dampings; high-level controller; linear parameter varying method; low-level backstepping-based force-tracking controller; nonlinear control; nonlinear state-dependent switching system; springs; two-level controller; Actuators; Automatic control; Control design; Control systems; Damping; Force control; Nonlinear control systems; Nonlinear dynamical systems; Robust stability; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on

Conference_Location

Vigo

Print_ISBN

978-1-4244-0754-5

Electronic_ISBN

978-1-4244-0755-2

Type

conf

DOI

10.1109/ISIE.2007.4374601

Filename

4374601