A new LPV/Hinf semi-active suspension control strategy with performance adaptation to roll behavior based on non linear algebraic road profile estimation

Soheib Fergani (1) , Lghani Menhour (2) , Olivier Sename (1) , Luc Dugard (1) , Brigitte d'Andréa-Novel (3)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
3 CAOR - Centre de Robotique

This paper presents a new LPV/Hinf semi-active suspension control strategy for a commercial vehicle equipped with 4 Magneto-Rheological dampers. The proposed approach concerns road adaptation using on-line road profile identification based on a non linear algebraic observer with unknown input. Then, the suspensions forces distribution in each corner of vehicle is performed considering roll dynamics. In this LPV/H1 strategy, 2 varying parameters are used to model the semi-active behaviour of the MR dampers, and 2 other ones, namely, the road roughness identification and roll dynamics, are considered for the road adaptation and the full vehicle vertical dynamics control. Different ISO road classes are used to test the efficiency of the on-line non linear algebraic road profile identification. Simulations scenarios, applied on a non linear full vehicle model, are used to evaluate the LPV/H1 controller performances in term of passengers comfort and road holding improvement in different driving situations.

Mots clés: LPV full vehicle conrol; algebraic identification methods; road profile estimation; algebraic observers with unknown input; LPV full vehicle conrol .

Domaines: Automatique

Soheib Fergani, Lghani Menhour, Olivier Sename, Luc Dugard, Brigitte d'Andréa-Novel. A new LPV/Hinf semi-active suspension control strategy with performance adaptation to roll behavior based on non linear algebraic road profile estimation. CDC 2013 - 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨hal-00868186⟩