Design of a hierarchical controller for suspension systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The chapter proposes the design of a hierarchical controller of an active suspension system for a full-car vehicle. The performance specifications are met by a high-level controller, in which the control input is a demanded virtual force. For the design of the high-level controller linear parameter varying (LPV) methods, in which both the performance specifications and the uncertainties of the model are taken into consideration, are proposed. The generation of the forces is based on the road disturbances and the measured signals. Once the desired forces are provided by the high-level, the actuator must track these reference signals by adjusting its spool valve. The actuator which is designed to carry out force-tracking is modelled as a nonlinear system. Control design in the low-level is based on the backstepping method. The modular design of both the high-level controller for the performance specifications and the low-level controller for the actuator has several advantages: it results in reduced-complexity models for the control design and changes in the actuator level do not affect the design of the high-level controller.

Original languageEnglish
Title of host publicationRobust Control and Linear Parameter Varying Approaches
Subtitle of host publicationApplication to Vehicle Dynamics
Pages311-328
Number of pages18
DOIs
Publication statusPublished - Mar 14 2013
Event32nd International Summer School in Automatic - Grenoble, France
Duration: Sep 12 2011Sep 16 2011

Publication series

NameLecture Notes in Control and Information Sciences
Volume437 LNCIS
ISSN (Print)0170-8643

Other

Other32nd International Summer School in Automatic
CountryFrance
CityGrenoble
Period9/12/119/16/11

Keywords

  • LPV control
  • active suspension
  • backstepping design
  • performances
  • robustness
  • tracking control

ASJC Scopus subject areas

  • Library and Information Sciences

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  • Cite this

    Gáspár, P., & Szabó, Z. (2013). Design of a hierarchical controller for suspension systems. In Robust Control and Linear Parameter Varying Approaches: Application to Vehicle Dynamics (pp. 311-328). (Lecture Notes in Control and Information Sciences; Vol. 437 LNCIS). https://doi.org/10.1007/978-3-642-36110-4_12