Active axletree suspension for road vehicles with gain-switching

We realize the design of an active-passive suspension system for the axletree of a road vehicle based on a linear model with four degrees of freedom. The optimal control law we propose aims to optimize the suspension performance while ensuring that the magnitude of the forces generated by the two actuators and the total forces applied between wheel and body never exceed the given bounds. We derive a solution that takes the form of an adaptive control law that switches between different constant state feedback gains. The results of our simulations show that the bound on the active forces is a design parameter useful for establishing a trade-off between performance and power requirement