Control Design for LPV Systems with Input Saturation and State Constraints: an Application to a Semi-Active Suspension

Anh Lam Do (1) , Joâo Manoel Gomes da Silva Gomes da Silva (2) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 UFRGS - Departamento de Engenharia Eletrica

This paper proposes a control design strategy for LPV systems subject to additive disturbances in the presence of actuator saturation and state constraints. LMI conditions are derived in order to simultaneously compute an LPV controller and an anti-windup gain that ensures the boundedness of the trajectories, considering that the disturbances belong to a given admissible set. The disturbance attenuation is addressed via an H¥ constraint. Besides, state constraints (corresponding to the local validity of the LPV model and system structural limits) are always assured. The theoretical results are applied to a quarter-car model rewritten in the LPV framework where the passivity constraint is recast to the saturation one. The interest of the provided methodology is emphasized by simulations.

Domaines: Automatique

Anh Lam Do, Joâo Manoel Gomes da Silva Gomes da Silva, Olivier Sename, Luc Dugard. Control Design for LPV Systems with Input Saturation and State Constraints: an Application to a Semi-Active Suspension. CDC 2011 - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, Floride, United States. pp.n.c. ⟨hal-00633026⟩