Hinfinity/LPV observer for an industrial semi-active suspension

Sébastien Aubouet (1, 2) , Luc Dugard (2) , Olivier Sename (2)

1 SOBEN SAS
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

In this paper, an H1/LPV observer to be used in an automotive suspension control application is proposed. The system considered is a road disturbance affected quarter car equipped with an industrial SOBEN damper. This observer is designed in the H1 framework in order to minimize the effect of the unknown road disturbance on the estimated states. The damper studied in this paper is highly nonlinear, therefore an adaptative linear parameter varying (LPV ) structure is proposed to improve the robustness of the observer. The observer presented here uses a single position sensor and is easy to implement in a real industrial application because of its simple linear structure. Some simulation results highlight the performances of this observer in realistic noise and uncertainty conditions. The estimated state variables of the quarter car model could be used for example in a state feedback control strategy to improve the comfort and roadholding level of a vehicle.

Mots clés: Damper; automotive; observer

Domaines: Automatique / Robotique

Sébastien Aubouet, Luc Dugard, Olivier Sename. Hinfinity/LPV observer for an industrial semi-active suspension. MSC 2009 - CCA 2009 - 3rd IEEE Multi-conference on Systems and Control - 18th IEEE International Conference on Control Applications, Jul 2009, Saint Petersbourg, Russia. ⟨hal-00385055⟩