A new predictive control approach is employed to control a non-linear 4 degrees of freedom vehicle suspension model including pitch and bounce motions. The front and rear suspension actuator forces are considered as control inputs. These are determined by minimizing a performance index defined as a weighted combination of conflicting objectives, namely ride comfort and road holding. In this way, the suspension deflection and the control forces should be restricted to admissible practical ranges. In this paper, an optimization process is used to develop a multi-input multi-output (MIMO) non-linear control law in a closed-form which is mathematically tractable and suitable for implementation. To investigate special features of the derived control law, the closed-loop system dynamics are first evaluated analytically and then the corresponding simulation results are presented. The results show that a compromise between mentioned objectives and control energy, even in the presence of uncertainties, can be easily made by regulating the control weighting factors.
KarlssonN.RicciM.HrovatD. and DahlehM., A suboptimal non-linear active suspension, Proceedings of the American Control Conference, 2000, 4036–4040.
2.
MalekshahiA. and MirzaeiM., Designing a non-linear tracking controller for vehicle active suspension systems using an optimization process, International Journal of Automotive Technology, 2012, 13, 263–271.
3.
MirzaeiM. and HassannejadR., Application of genetic algorithms to optimum design of elasto-damping elements of a half-car model under random road excitations, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2007, 221, 515–526.
4.
DuH. and ZhangN., H∞ control of active vehicle suspensions with actuator time delay, Journal of Sound and Vibration, 2007, 301, 236–252.
5.
JaliliN. and EsmailzadehE., Optimum active vehicle suspensions with actuator time delay, Journal of Dynamic Systems, Measurement, and Control, 2001, 123, 54–61.
6.
EsmailzadehE. and TaghiradH., Active vehicle suspensions with optimal state-feedback control, International Journal of Modelling and Simulation, 1998, 18, 228–238.
7.
KimC. and RoP., A sliding mode controller for vehicle active suspension systems with non-linearities, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 1998, 212, 79–92.
8.
DemirO.KeskinI. and CetinS., Modeling and control of a non-linear half-vehicle suspension system: A hybrid fuzzy logic approach, Non-linear Dynamics, 2012, 67, 2139–2151.
9.
HuangC.-J.LinJ.-S. and ChenC.-C., Road-adaptive algorithm design of half-car active suspension system, Expert Systems with Applications, 2010, 37, 4392–4402.
10.
SunL., Optimum design of “road-friendly” vehicle suspension systems subjected to rough pavement surfaces, Applied Mathematical Modelling, 2002, 26, 635–652.
11.
ShaojunL.YanL., Study on preview control method of active suspension based on a half-car model, Journal of Central South University of Technology, 1999, 6(1), 51–55.
12.
AshariA. E., Sliding-mode control of active suspension systems: Unit vector approach, IEEE International Conference on Control Applications, 2004, 370–375.
13.
ChenH.-Y. and HuangS.-J., Adaptive sliding controller for active suspension system, International Conference on Control and Automation, ICCA'05, 2005, 282–287.
14.
SamY. M.OsmanJ. H. S. and GhaniM. R. A., Sliding mode control design for active suspension on a half-car model, IEEE Conference on Research and Development, 2003, 36–42.
15.
AllamE.ElbabH. F.HadyM. A. and Abouel-SeoudS., Vibration control of active vehicle suspension system using fuzzy logic algorithm, Fuzzy Information and Engineering, 2010, 2, 361–387.
16.
LinJ.LianR.-J.HuangC.-N. and SieW.-T., Enhanced fuzzy sliding mode controller for active suspension systems, Mechatronics, 2009, 19, 1178–1190.
17.
KurczykS. and PawelczykM., Fuzzy control for semi-active vehicle suspension, Journal of Low Frequency Noise, Vibration and Active Control, 2013, 32, 217–226
18.
LiuZ.LuoC. and HuD., Active suspension control design using a combination of LQR and backstepping, Chinese Control Conference, 2006, 123–125.
19.
LinJ.-S. and KanellakopoulosI., Non-linear design of active suspensions, Control Systems, IEEE, 1997, 17, 45–59.
20.
GudarziM. and OveisiA., Robust control for ride comfort improvement of an active suspension system considering uncertain driver's biodynamics, Journal of Low Frequency Noise, Vibration and Active Control, 2014, 33, 317–340.
21.
SunW.ZhaoZ. and GaoH., Saturated adaptive robust control for active suspension systems, IEEE Transactions on Industrial Electronics, 2013, 60, 3889–3896.
22.
ChoiS.-B. and HanS.-S., H∞ control of electrorheological suspension system subjected to parameter uncertainties, Mechatronics, 2003, 13, 639–657.
23.
OhsakuS.NakayamaT.KamimuraI. and MotozonoY., Non-linear H∞ control for semi-active suspension, JSAE Review, 1999, 20, 447–452.
24.
UngerA.SchimmackF.LohmannB. and SchwarzR., Application of LQ-based semi-active suspension control in a vehicle, Control Engineering Practice, 2013, 21, 1841–1850.
25.
ChenS.HeR.LiuH. and YaoM., Probe into necessity of active suspension based on LQG control, Physics Procedia, 2012, 25, 932–938.
26.
RaoGopala L. and NarayananS., Sky-hook control of non-linear quarter car model traversing rough road matching performance of LQR control, Journal of Sound and Vibration, 2009, 323, 515–529.
27.
ChienT. L.ChenC. C.TsaiM. C. and ChenY. C., Almost disturbance decoupling and tracking control for multi-input multi-output non-linear uncertain systems: Application to a half-car active suspension system. IMechE Part I, J. Systems and Control Engineering, 2009, 223, 2, 215–228.
28.
TungS.-L.JuangY.-T.LeeW.-H.ShiehW.-Y. and WuW.-Y., Optimization of the exponential stabilization problem in active suspension system using PSO, Expert Systems with Applications, 2011, 38, 14044–14051.
29.
LauwerysC.SweversJ. and SasP., Design and experimental validation of a linear robust controller for an active suspension of a quarter car, Proceedings of the American Control Conference, 2004, 1481–1486.
30.
ZarembaA.HampoR. and HrovatD., Optimal active suspension design using constrained optimization, Journal of Sound and Vibration, 1997, 207, 351–364.
31.
UysP.ElsP. S. and ThoressonM., Suspension settings for optimal ride comfort of off-road vehicles travelling on roads with different roughness and speeds, Journal of Terramechanics, 2007, 44, 163–175.
32.
ElsP. S.UysP.SnymanJ. A. and ThoressonM. J., Gradient-based approximation methods applied to the optimal design of vehicle suspension systems using computational models with severe inherent noise, Mathematical and Computer Modelling, 2006, 43, 787–801.
33.
GordonT., Non-linear optimal control of a semi-active vehicle suspension system, Chaos, Solitons & Fractals, 1995, 5, 1603–1617.
34.
MirzaeinejadH. and MirzaeiM., A novel method for non-linear control of wheel slip in anti-lock braking systems, Control Engineering Practice, 2010, 18, 918–926.
35.
MirzaeiM.AlizadehG.EslamianM. and AzadiS., An optimal approach to non-linear control of vehicle yaw dynamics, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2008, 222, 217–229.
