An LPV Control Approach for Semi-active Suspension Control with Actuator Constraints

Anh Lam Do (1) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

This paper presents a new solution for the semi-active suspension control problem. First, a quarter vehicle model equipped with a semi-active damper is reformulated in the LPV framework using the nonlinear static semi-active damper model. This formulation allows to turn the control problem with dissipativity constraint into that with input saturation. Then the damper force saturation is taken into account in an original LPV fashion. This leads to the definition of a new LPV model with two parameters which is handled in a polytopic way. The $H_{\infty}$ control design for polytopic systems is then applied. The interest of the provided methodology is emphasized by simulations on a nonlinear vehicle model.

Domaines: Automatique

Anh Lam Do, Olivier Sename, Luc Dugard. An LPV Control Approach for Semi-active Suspension Control with Actuator Constraints. ACC 2010 - American Control Conference, Jun 2010, Baltimore, Maryland, United States. ⟨hal-00497721⟩