Vertical trajectory planning: an optimal control approach for active suspension systems in autonomous vehicles

2021 ◽  
pp. 1-22
Author(s):  
Matthias Jurisch
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Autonomous Vehicles ◽  
Active Suspension ◽  
Control Approach ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Optimal Control Approach

scholarly journals Applications of Approximate Optimal Control to Nonlinear Systems of Tracked Vehicle Suspensions

2021 ◽  
Vol 14 (1) ◽  
Author(s):  
Yan-Jun Liang ◽  
You-Jun Lu ◽  
De-Xin Gao ◽  
Zhong-Sheng Wang
Keyword(s):  
Optimal Control ◽  
Vibration Control ◽  
Ride Comfort ◽  
Nonlinear Dynamic System ◽  
Active Suspension ◽  
Nonlinear Damping ◽  
Tracked Vehicle ◽  
Control Approach ◽  
Vehicle Suspensions ◽  
Suspension Systems

AbstractTechnique of approximate optimal vibration control and simulation for vehicle active suspension systems are developed. Considered the nonlinear damping of springs, mechanical model and a nonlinear dynamic system for a class of tracked vehicle suspension vibration control are established and the corresponding system of state space form is described. To prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an approximate optimal vibration controller is designed, and an algorithm is presented for the vibration controller. Numerical simulation results illustrate the effectiveness of the proposed technique.

An adaptive control approach for semi-active suspension systems under unknown road disturbance input using hardware-in-the-loop simulation

2020 ◽  
pp. 014233121989593 ◽  
Author(s):  
Gokhan Kararsiz ◽  
Mahmut Paksoy ◽  
Muzaffer Metin ◽  
Halil Ibrahim Basturk
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Active Suspension ◽  
Magnetorheological Damper ◽  
Hardware In The Loop ◽  
Control Approach ◽  
The Road ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Road Disturbance

This article presents an application of the adaptive control method to semi-active suspension systems in the presence of unknown disturbance and parametric uncertainty. Due to the technical difficulties such as time delay and sensor noise, the road disturbance is assumed to be unmeasured. To overcome this problem, an observer is designed to estimate the disturbance. It is considered that the road profile consists of a finite number of the sum of sinusoidal signals with unknown amplitudes, phases and frequencies. After the parametrization of the observer, the adaptive control approach is employed to attenuate the effect of the road-induced vibrations using a magnetorheological damper. It is proved that the closed-loop system is stable, despite the adverse road conditions. Finally, the performance of the controller is illustrated with a hardware-in-the-loop simulation in which the system is subjected to sinusoidal and random profile road excitations. To demonstrate the benefits of the adaptive controller, the results are presented in comparison with a conventional proportional integral derivative (PID) controller.

Modelling and Control of an Electro-Hydraulic Active Suspension System

2013 ◽  
Vol 60 (1) ◽  
pp. 37-54 ◽  
Author(s):  
Oussama Ajala ◽  
Dieter Bestle ◽  
Jochen Rauh
Keyword(s):  
Active Suspension ◽  
Degree Of Freedom ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Suspension Systems ◽  
Model Free ◽  
Active Suspension Systems ◽  
Linear Framework ◽  
And Control ◽  
Two Degree Of Freedom

Active suspension systems ease the conflict between comfort and handling. This requires the use of suitable actuators that in turn need to be efficiently controlled. This paper proposes a model-based control approach for a nonlinear suspension actuator. Firstly the concept is derived in the linear framework in order to simplify the synthesis and analysis phase. There a linear model of the actuator is proposed and discussed. Further, this design phase includes a comparison between model-free PID controllers and a newly proposed two-degree-of-freedom controller which allows one to shape reference and disturbance responses separately. Subsequently, the two-degree-of-freedom controller, which proves to be superior, is adapted to the nonlinear framework by considering a linear parameter varying representation of the nonlinear plant. Finally, the nonlinear controller is implemented in a test car confirming the concept applicability to real hardware.

Design of Car Active Suspension Systems to Obtain Desired Performance on Reducing Effect of Road Excitation on Human Health

2005 ◽  
Author(s):  
Rooholah Abdollahpour ◽  
Reza Sharifi Sedeh ◽  
Mohamad Taghi Ahmadian ◽  
Nasser Sadati
Keyword(s):  
Optimal Control ◽  
Human Body ◽  
Active Suspension ◽  
Passenger Cars ◽  
Adaptive Fuzzy ◽  
Quarter Car Model ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Acceleration Amplitude ◽  
Road Excitation

Advent of passenger cars has caused people to use them for more efficiency in their performance and wasting less time. Problems, however, still exist in them. For instance, since people travel with cars, their human bodies undergo in fatigue, restlessness, and sometimes health problems. Human body reaction under external vibration depends on the amplitude, frequency, and acceleration of the applied external excitation. These limitations which are usually announced by the bureau of standards imply the necessity of control of amplitude, vibration, frequency, and acceleration received by human body due to cars passing humps and bumps. In this paper, a quarter car model with active suspension system is considered and three control approaches namely optimal control, fuzzy control, and adaptive fuzzy optimal control (AFOC) are applied. Moreover, the performance of different controllers is compared. Application of three different methods indicate that adaptive fuzzy optimal control results in a higher performance in time, acceleration, amplitude, and consequently lower hazards to human body.

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