A feedback-feedforward suspension control strategy for global chassis control through anti-roll distribution. (17th May 2010)

• Record Type: Journal Article
• Authors: Zin, Alessandro; Sename, Olivier; Dugard, Luc
• Is Part Of: International journal of vehicle autonomous systems. Volume 7:Number 3/4(2009)
• Page Start: 201
• Page End: 220
• Publication Date: 2010-05-17
• Subjects: feedback-feedforward control -- global chassis control -- active suspension -- yaw control -- anti-roll distribution -- H-infinity control -- linear parameter varying systems -- suspension actuators -- robust control -- linear parameter varying control -- LPV suspension control -- vehicle safety -- model reference control -- ride comfort -- numerical simulation -- vehicle suspension; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

A new global chassis control strategy developed in two steps is proposed using the suspension actuators only. First, a robust H∞ Linear Parameter Varying (LPV) suspension controller is designed to ensure robust performance w.r.t parameter uncertainties. The interest of such a controller relies on its inherent structure which allows for performance adaptation through the variation of a scalar coefficient c0. The second step consists in adding a feedforward compensator which controls the anti-roll distribution of the suspension forces to improve the vehicle safety in the presence of longitudinal and lateral disturbances. The control scheme consists in controlling the yaw rate through a model reference control. The global chassis control then relies on the adaptation of the suspension performance (comfort/safety), according to the anti-roll distribution. The interest of the methodology is emphasised through numerical simulations on a full vehicle nonlinear model, including chassis and tyres.