Multiobjective suspension control problem

The paper describes a (controller) design problem in the field of suspension systems for transport vehicles. A ten degrees-of-freedom model for a tractor-semitrailer vehicle is presented, using parameters derived from a real vehicle, which should be used for design and verification purposes. Road disturbance models, for stochastic as well as for deterministic disturbances, are given for use in the controller design and for checking the controller by a representative road simulation. Specifications the controlled system should fulfil are formulated. The specifications follow from the goals of a suspension system and the restrictions its environment places on the range of certain variables. To meet the specifications, a multiobjective control design seems appropriate. A formulation is proposed that includes three norm based objectives. These are (1) ℋ₂-norm minimization to optimize both driver and load comfort for stochastic road disturbances, (2) restricting the L₁-norm to prevent exceeding limits on designated variables and to reduce peak accelerations, and (3) bounding the ℋ∞-norm to get robustness. Included in the problem formulation are realizability aspects related to power consumption, peak load, instrumentation, and controller implementation