Active suspension control of ground vehicle based on a full-vehicle model

An active suspension control approach combining a filtered feedback control scheme and an “input decoupling transformation” is given for a full-vehicle suspension system. Motions of the sprung mass (car body) above and below the wheel frequency modes are mitigated by using active filtering of spring and damping coefficients through inner control loops (ride controller) plus skyhook damping of heave, pitch and roll velocities through outer control loops (attitude controller). The inner ride control loops and the outer attitude loops are blended with the input decoupling transformation. The performance of the active suspension control is demonstrated in simulations