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LPV Control of Full-Vehicle Vertical Dynamics using Semi-Active Dampers

Fleps-Dezasse, Michael and Brembeck, Jonathan (2016) LPV Control of Full-Vehicle Vertical Dynamics using Semi-Active Dampers. In: Proceedings of the 8th Symposium on Advances in Automotive Control (AAC) 2016. IFAC PapersOnline. 8th IFAC Symposium on Advances in Automotive Control, 20.-23. Juni 2016, Kolmarden, Sweden. doi: 10.1016/j.ifacol.2016.08.064.

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Semi-active suspensions enable a mitigation of the design conflict between ride comfort and road-holding by allowing the continuous control of the damper force. During the design of control laws for semi-active dampers, the inherent actuator limits constitute a major performance restriction. Accordingly, these constraints should be explicitly considered during controller design. In this work, the actuator constraints are addressed by LPV control methods which offer a rigorous framework to incorporate them as so-called saturation indicator parameters in the LPV plant. Additionally, saturation indicator dependent weighting filters are employed in a mixed sensitivity scheme in order to honor stability over performance in the event of saturation. Furthermore, the LPV controller is synthesized using a full-vehicle model, which enables the individual tuning of the heave, pitch and roll motion. The full-vehicle model, however, leads to a significant increase in complexity of the controller synthesis problem compared to a quarter-vehicle model. Therefore, a disturbance-feedforward output-feedback controller design is adopted to exploit the separation principle. The performance of the proposed full-vehicle LPV controller is compared to two quarter-vehicle LPV controllers, a Skyhook/Groundhook controller and passive suspension configurations in an extensive simulation investigation. The results illustrate the improved pareto optimum of the LPV full-vehicle controller and the suitability of the proposed design scheme.

Item URL in elib:https://elib.dlr.de/105040/
Document Type:Conference or Workshop Item (Speech)
Title:LPV Control of Full-Vehicle Vertical Dynamics using Semi-Active Dampers
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Brembeck, JonathanUNSPECIFIEDhttps://orcid.org/0000-0002-7671-5251UNSPECIFIED
Date:21 June 2016
Journal or Publication Title:Proceedings of the 8th Symposium on Advances in Automotive Control (AAC) 2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IFAC PapersOnline
Keywords:Linear parameter varying control, actuator saturation, semi-active damper, vertical dynamics
Event Title:8th IFAC Symposium on Advances in Automotive Control
Event Location:Kolmarden, Sweden
Event Type:international Conference
Event Dates:20.-23. Juni 2016
Organizer:International Federation of Automatic Control (IFAC)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Fleps-Dezasse, Michael
Deposited On:12 Jul 2016 13:29
Last Modified:20 Jul 2023 13:16

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