A controller is designed for automotive active suspension whose purpose is to improve the ride comfort against road disturbances. This disturbance rejection problem is formulated as an l1 control problem, i.e., minimization of the effects of disturbances in terms of the linfinity -induced norm. Since l1 control theory minimizes the maximum possible amplification of signal magnitude, the l1 controller can specify the maximum magnitude of outputs in the time domain, regardless of the frequency of road disturbances. To design a static full state feedback controller, Shamma's l1 near-optimal control theory is applied. Although l1 control with full state feedback usually can be dynamic and of arbitrarily high order, this theory with a certain approximation is able to construct a simple static state feedback with nonlinearity. Therefore, for a linear quarter vehicle model, a nonlinear controller is designed. Finally, satisfactory performances of the controller are confirmed by numerical analysis.
l1 state feedback control of active suspension
IEEE Conference on Decision and Control, 37 ; 1 ; 475-480
1998
6 Seiten, 13 Quellen
Conference paper
English
l1 state feedback control of active suspension
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