Title :
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
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;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876980
