Experimental Implementation of Model Predictive Control Scheme for Control of Semi-active Suspension System

Karthik Murali Madhavan Rathai 1 Mazen Alamir 2 Olivier Sename 1
1 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
2 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
Abstract : In this paper, a model predictive control (MPC) scheme is developed and experimentally validated for control of a quarter car system equipped with semi-active (SA) suspension system, which is stationed on the INOVE test platform. The work can be described in two folds which are a) parametric modelling of Electro-Rheological (ER) damper based SA suspension system (ER-SA) and b) implementation of MPC with discretized set of inputs, which in this case are the set of duty cycle (DC) dependent pulse width modulation (PWM) signals that operates the ER-SA suspension system. In the former work, a phenomenological parametric damper model is utilized to describe the ER damper's dynamic input/output characteristics by virtue of non-linear least squares (NLS) data fitting method. The latter method utilizes this model into the MPC framework for control of the quarter car system. The MPC controller was practically implemented on the INOVE test platform and results display better performance of the MPC controller in comparison with passive damping and modified Skyhook controller.
Document type :
Conference papers
Complete list of metadatas

Cited literature [17 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02160145
Contributor : Karthik Murali Madhavan Rathai <>
Submitted on : Wednesday, June 19, 2019 - 1:09:55 PM
Last modification on : Thursday, August 22, 2019 - 11:32:04 AM

File

AAC 2019 final.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02160145, version 1

Collections

Citation

Karthik Murali Madhavan Rathai, Mazen Alamir, Olivier Sename. Experimental Implementation of Model Predictive Control Scheme for Control of Semi-active Suspension System. 9th IFAC International Symposium on Advances in Automotive Control, Jun 2019, Orleans, France. ⟨hal-02160145⟩

Share

Metrics

Record views

59

Files downloads

75