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Robust Mixed H2/H State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay

School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
Author to whom correspondence should be addressed.
Processes 2020, 8(3), 359;
Received: 28 January 2020 / Revised: 4 March 2020 / Accepted: 17 March 2020 / Published: 20 March 2020
(This article belongs to the Section Computational Methods)
In order to achieve better dynamics performances of a class of automobile active suspensions with the model uncertainties and input delays, this paper proposes a generalized robust linear H2/H state feedback control approach. First, the mathematical model of a half-automobile active suspension is established. In this model, the H norm of body acceleration is determined as the performance index of the designed controller, and the hard constraints of suspension dynamic deflection, tire dynamic load and actuator saturation are selected as the generalized H2 performance output index of the designed controller to satisfy the suspension safety requirements. Second, a generalized H2/H guaranteed cost state-feedback controller is developed in terms of Lyapunov stability theory. In addition, the Cone Complementarity Linearization (CCL) algorithm is employed to convert the generalized H2/H output-feedback control problem into a finite convex optimization problem (COP) in a linear matrix inequality framework. Finally, a numerical simulation case of this half-automobile active suspension is presented to illustrate the effectiveness of the proposed controller in frequency-domain and time-domain. View Full-Text
Keywords: robust control; active suspension; input delay robust control; active suspension; input delay
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Liu, N.; Pang, H.; Yao, R. Robust Mixed H2/H State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay. Processes 2020, 8, 359.

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