Uncertainty modeling and control design of variable-geometry suspension

The paper proposes the modeling and control design of a variable-geometry suspension system. The goal of the modification of wheel camber is to track road trajectory and enhance the lateral stability of the vehicle. The purpose of the system is to assist the driver to perform various maneuvers by influencing the camber angles of the rear wheels. First a tyre model and a dynamical model of the suspension are described. Second, the uncertainties of the system, which are considered at the control design of a variable-geometry suspension are formalized. The control design is based on the robust H_∞/μ method, which meets the performance specifications and guarantees robustness against model uncertainties.