scholarly journals Online Reinforcement Learning-Based Control of an Active Suspension System Using the Actor Critic Approach

2020 ◽  
Vol 10 (22) ◽  
pp. 8060
Author(s):  
Ahmad Fares ◽  
Ahmad Bani Younes
Keyword(s):  
Reinforcement Learning ◽  
Least Squares Method ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Suspension System ◽  
Recursive Least Squares ◽  
Linear Quadratic ◽  
Reward Function ◽  
Road Profile ◽  
The One

In this paper, a controller learns to adaptively control an active suspension system using reinforcement learning without prior knowledge of the environment. The Temporal Difference (TD) advantage actor critic algorithm is used with the appropriate reward function. The actor produces the actions, and the critic criticizes the actions taken based on the new state of the system. During the training process, a simple and uniform road profile is used while maintaining constant system parameters. The controller is tested using two road profiles: the first one is similar to the one used during the training, while the other one is bumpy with an extended range. The performance of the controller is compared with the Linear Quadratic Regulator (LQR) and optimum Proportional-Integral-Derivative (PID), and the adaptiveness is tested by estimating some of the system’s parameters using the Recursive Least Squares method (RLS). The results show that the controller outperforms the LQR in terms of the lower overshoot and the PID in terms of reducing the acceleration.

Improvement on Ride Comfort of Quarter-Car Active Suspension System Using Linear Quadratic Regulator

2018 ◽  
pp. 431-441
Author(s):  
Sharifah Munawwarah Syed Mohd Putra ◽  
Fitri Yakub ◽  
Mohamed Sukri Mat Ali ◽  
Noor Fawazi Mohd Noor Rudin ◽  
Zainudin A. Rasid ◽  
...  
Keyword(s):  
Ride Comfort ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Suspension System ◽  
Linear Quadratic ◽  
Quarter Car

Semi Active Vibration Control of a Passenger Car Using Magnetorheological Shock Absorber

2010 ◽  
Author(s):  
Ali Fellah Jahromi ◽  
A. Zabihollah
Keyword(s):  
Vibration Control ◽  
Control Algorithm ◽  
Shock Absorber ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Suspension System ◽  
Linear Quadratic ◽  
Passenger Car ◽  
Road Profile ◽  
Active Vibration

A novel semi-active control system for suspension systems of passenger car using Magnetorheological (MR) damper is introduced. The suspension system is considered as a massspring model with an eight-degrees-of-freedom, a passive damper and an active damper. The semi-active vibration control is designed to reduce the amplitude of automotive vibration caused by the alteration of road profile. The control mechanism is designed based on the optimal control algorithm, Linear Quadratic Regulator (LQR). In this system, the damping coefficient of the shock absorber changes actively trough inducing magnetic field. It is observed that utilizing the present control algorithm may significantly reduce the vibration response of the passenger car, thus, providing comfortable drive. The new developed suspension system may lead to design and manufacturing of passenger car in which the passenger may not feel the changes in road profile from highly bumpy to smooth profile.

Optimal Controller Design For A Railway Vehicle Suspension System Using Particle Swarm Optimization

2012 ◽  
Author(s):  
Arfah Syahida Mohd Nor ◽  
Hazlina Selamat ◽  
Ahmad Jais Alimin
Keyword(s):  
Particle Swarm Optimization ◽  
Particle Swarm ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Suspension System ◽  
Railway Vehicle ◽  
Linear Quadratic ◽  
Swarm Optimization ◽  
Suspension Control ◽  
Trial And Error Method

This paper presents the design of an active suspension control of a two–axle railway vehicle using an optimized linear quadratic regulator. The control objective is to minimize the lateral displacement and yaw angle of the wheelsets when the vehicle travels on straight and curved tracks with lateral irregularities. In choosing the optimum weighting matrices for the LQR, the Particle Swarm Optimization (PSO) method has been applied and the results of the controller performance with weighting matrices chosen using this method is compared with the commonly used, trial and error method. The performance of the passive and active suspension has also been compared. The results show that the active suspension system performs better than the passive suspension system. For the active suspension, the LQR employing the PSO method in choosing the weighting matrices provides a better control performance and a more systematic approach compared to the trial and error method. Key words: active suspension control, two–axle railway vehicle, linear quadratic regulator, particle swarm optimization

scholarly journals Quarter car model optimization of active suspension system using fuzzy PID and linear quadratic regulator controllers

2021 ◽  
Vol 6 (3) ◽  
pp. 088-097
Author(s):  
Abdussalam Ali Ahmed
Keyword(s):  
Control System ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Suspension System ◽  
Fuzzy Pid ◽  
Linear Quadratic ◽  
Fuzzy Pid Control ◽  
Quarter Car Model ◽  
Car Model ◽  
Quarter Car

The primary objective of this paper is to improve the performance of a car's active suspension system and control the vibrations that occurred in the car's using two well-known control technologies, namely the Linear Quadratic Regulator (LQR) and fuzzy PID control. When the car suspension is designed, a quarter car model with two degrees of freedom is used. A complete control system is needed to provide the desired suspension performance and characteristics such as passenger comfort, road handling, and suspension deflection, this control system performed using the MATLAB/SIMULINK and includes three parts: input signals (actuator force and road profile), Controller part, and the suspension system model. The simulation results from the implemented Simulink models show a comparison between the uncontrolled suspension system and the suspension system with a fuzzy PID controller and the active suspension system of the car based on the linear-quadratic regulator, and it is explained thoroughly.

scholarly journals Comparative analysis of strategies for a semi-active suspension of a ¼ vehicle

2018 ◽  
Vol 211 ◽  
pp. 02004
Author(s):  
Matheus Melo ◽  
Suzana Avila
Keyword(s):  
Control Strategy ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Damping Coefficient ◽  
Vehicle Suspension ◽  
Linear Quadratic ◽  
Limit Values ◽  
The Road ◽  
Road Profile ◽  
Suspension Model

The vehicle suspension isolates the chassis from road irregularities, reacting to forces produced by the tires and the braking torques, always keeping the road tire contact, providing stability and safety. Stability and safety are two antagonistic characteristics in suspension design, when improving one the other is impaired and vice versa. The semi-active suspension is a type of vehicle suspension that can change its stiffness and/or damping in real time depending on the vehicle response to the actual road profile. The On-Off semi-active suspension changes its damping coefficient between two fixed limit values. This work proposes an On-Off semi-active suspension model, in which the damping coefficient changes its values considering the road profile function frequency. A control strategy is proposed in a way to improve performance keeping the same simplicity, without any structural change of the semi-active suspension. On the proposed control strategy one of the damping coefficients is obtained through the linear quadratic regulator (LQR) algorithm, with the aim to set the coefficient from the gain matrix associated to the velocity of the suspended mass. This model is compared to anothers found in literature.

scholarly journals Design of a modified linear quadratic regulator for vibration control of suspension systems

2011 ◽  
Vol 2 (1) ◽  
pp. 25-31
Author(s):  
Ş. Yildirim ◽  
M. Kalkat ◽  
İ. Uzmay ◽  
G. Husi
Keyword(s):  
Degrees Of Freedom ◽  
Experimental System ◽  
Linear Quadratic Regulator ◽  
Suspension System ◽  
Superior Performance ◽  
Linear Quadratic ◽  
Suspension Systems ◽  
Road Profile ◽  
Vehicle Suspension System ◽  
Non Linear System

Abstract This paper is concerned with the construction of a prototype active vehicle suspension system for a one-wheel car model by using a modified Linear Quadric Regulator (LQR). The experimental system is approximately described by a non-linear system with two degrees of freedom subject to excitation from a road profile. The active control at the suspension location is designed by using feedback constant gain controller structure. The experimental results show that the active suspension system with LQR more improves the control performance than standard PID controller. On the other hand, the results improved that the modified LQR has superior performance for controlling suspension systems in real time.

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