Optimal control of systems with time delays among disturbances, such as vehicle suspensions, is a relatively simple but long-standing problem in time-delayed control. We consider the exact H 2 optimal control of systems with time-delayed disturbances and develop a computationally efficient approach for controller synthesis. We extend the Lyapunov-based H 2 norm computation to systems with time-delayed disturbances and then derive a concise formula to explicitly evaluate the sensitivity of the system H 2 norm with respect to controller gains. Thence, a set of necessary conditions for H 2 optimal control of such systems using static output feedback are obtained in the form of algebraic equations. Gradient-based methods are adapted to optimize the controller gains. The method is also extended to reduced-order and decentralized control. As an application, a passive suspension system for an eight-DOF four-wheel vehicle is designed via structured H 2 optimization. The results are compared with those of a design based on a Pade expansion for the time delays and a design obtained by neglecting the disturbance delays.


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    Title :

    H 2 optimal control of disturbance-delayed systems with application to vehicle suspensions


    Contributors:
    Zuo, Lei (author) / Nayfeh, Samir A. (author)

    Published in:

    Vehicle System Dynamics ; 45 , 3 ; 233-247


    Publication date :

    2007-03-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



    H2 optimal control of disturbance-delayed systems with application to vehicle suspensions

    Zuo,L. / Nayfeh,S.A. / Abbott Labs.,US et al. | Automotive engineering | 2007




    Optimal control of vehicle suspensions

    Venhovens, Paulus Johannes Theodorus | TIBKAT | 1994