In this paper, a novel Suspension Travel Tracking Preview Control (STTPC) algorithm is proposed for the off-road vehicle. The research takes the specific structural suspension design of off-road vehicles into consideration and develops a specific control algorithm accordingly. The underlying principle of the algorithm is to make full use of the working space of the suspension to make the suspension displacement track the road excitation. Thus, the body acceleration caused by the external input, road excitation, can be reduced. In addition, the unknown input Kalman observer is combined with the proposed preview control algorithm to solve the problem of obtaining the preview information and estimating the suspension state information driving. Finally, simulations based on MATLAB/Simulink platform are performed to verify the effectiveness of the preview control algorithm and unknown input observer under deterministic and stochastic road profiles.
Research on preview control based on unknown input observer
5th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2023) ; 2023 ; Wuhan, China
Proc. SPIE ; 12748
2023-08-10
Conference paper
Electronic Resource
English
Unknown input observer design based on auxiliary outputs
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