DocumentCode :
3095435
Title :
Nonlinear Control of Vehicle Active Suspension Considering Actutor Dynamics
Author :
Hashemipour, H. ; Amiri, M. ; Mirzaei, M. ; Maghoul, A.
Author_Institution :
Dept. Electr. & Comput., Islamic Azad Univ., Rodsar, Iran
Volume :
2
fYear :
2009
fDate :
28-30 Dec. 2009
Firstpage :
362
Lastpage :
366
Abstract :
Considering the nonlinear characteristic of hydraulic actuators is very important in designing the controller of automobile active suspension system. To show the importance of this effect, two nonlinear control methods are employed in this paper. At first, a controller is designed by a combined LQR and backstopping (CLB) nonlinear technique. In this method, the nonlinear model is linearized in one step of the design process. At the second one, a sliding mode controller is designed by the suitable selection of the sliding surface. In this way, the well-defined sky hook linear model is selected as the reference model to be tracked by the nonlinear sliding controller. In order to decrease the vertical accelerations and improve the behavior of the reference model, the sky hook model is controlled beforehand by the LQR method. The simulation results and robustness analysis show that the performance of the sliding controller, which is based on the non-linear model, is better than the performance of the CLB controller that uses linearization in one step of the design process.
Keywords :
automobiles; hydraulic actuators; linear quadratic control; nonlinear control systems; suspensions (mechanical components); variable structure systems; vehicle dynamics; LQR; actuator dynamics; backstopping nonlinear technique; hydraulic actuators; nonlinear sliding controller; sky hook linear model; sliding surface; vehicle active suspension nonlinear control; Acceleration; Analytical models; Automobiles; Control systems; Hydraulic actuators; Nonlinear control systems; Nonlinear dynamical systems; Process design; Sliding mode control; Vehicle dynamics; Nonlinear control; ride comfort; suspension system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on
Conference_Location :
Dubai
Print_ISBN :
978-1-4244-5365-8
Electronic_ISBN :
978-0-7695-3925-6
Type :
conf
DOI :
10.1109/ICCEE.2009.233
Filename :
5380428
Link To Document :
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