Full-car active suspension based on H2/generalized H2 output feedback control

This paper establishes a 15 degree-of-freedom full-car dynamic model for the car of Hongqi HQ3. Output feedback active suspension is designed based on a half-car model. Good ride comfort is achieved by minimizing the H₂ norm from disturbances of the road to the vertical acceleration and the pitch acceleration of the car, while safety constraints such as normalized suspension dynamic travels, static/dynamic load ratios and normalized actuator pressures are guaranteed by generalized H₂ norm. The 15 degree-of-freedom full-car model and left and right controllers are formed a closed-loop system. The simulation result of the full car shows that the active suspension can greatly reduce the vertical acceleration, pitch acceleration and roll acceleration as well as satisfy all constraints.