Semi-active suspension control problem: some new results using an LPV /H ∞ state feedback input constrained control

Manh Quan Nguyen (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

— The semi-active suspension control problem faces the challenge of the dissipativity constraints of the semi-active dampers. This induces some compromises (actuator saturation, comfort, road holding...) which need to be taken into account in the control design step. In this paper, a state feedback input constrained control problem for LPV systems is considered with H ∞ performance objective. Stabilization conditions based on the Finsler's Lemma are derived in order to ensure the stability in the presence of the input saturation, and to attenuate the disturbance effects. To this aim, two different Lyapunov functions are used. For the stability analysis, a generalized sector condition for LPV systems is applied to treat the nonlinearity caused by the actuator saturation. The considered performance objective regards the reduction of L 2 gain from the disturbance to the controlled output. The LPV controller is computed from the solution of LMIs considering a polytopic representation for the LPV closed-loop system. These theoretical results are applied to a semi-active suspension system where the dissipativity conditions of the semi-active dampers are recast as saturation conditions on the control inputs. The comfort criteria is used as a performance objective in this study. Some simulation results are presented in order to illustrate the effectiveness of the proposed approach.

Mots clés: State Feedback; Semi-active suspension; LPV /H ∞ control; Input saturation

Domaines: Automatique / Robotique

Manh Quan Nguyen, Joâo Manoel Gomes da Silva Gomes da Silva, Olivier Sename, Luc Dugard. Semi-active suspension control problem: some new results using an LPV /H ∞ state feedback input constrained control. CDC 2015 - 54th IEEE Conference on Decision and Control, Dec 2015, Osaka, Japan. ⟨hal-01226810⟩