A suboptimal nonlinear active suspension

Author

Karlsson, Niklas ; Ricci, Michael ; Hrovat, Davor ; Dahleh, Mohammed

Author_Institution

Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA

Volume

6

fYear

2000

fDate

2000

Firstpage

4036

Abstract

A nonlinear optimal control law based on a quartic cost function is developed, and applied to a quarter-car vehicle model. For small disturbances, the performance is similar to the “soft” linear suspension, but for large disturbances, the suspension travel and wheel hop are reduced at the expense of larger body acceleration. The nonlinear suspension controller qualitatively emulates an LQ controller gain scheduled by RMS input levels, and provides a safer ride than the linear controller

Keywords

automobiles; linear quadratic control; nonlinear control systems; suboptimal control; vibration control; LQ controller; RMS input levels; acceleration; gain scheduling; nonlinear optimal control; quarter-car vehicle model; quartic cost function; safety; small disturbances; soft linear suspension; suboptimal nonlinear active suspension; suspension travel; wheel hop; Acceleration; Control nonlinearities; Control systems; Cost function; Nonlinear control systems; Optimal control; Road vehicles; Tires; Vehicle safety; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.876980

Filename

876980