Linear matrix inequality based control of vehicle active suspension system

Authors: Abdalla, M. O.; Al Shabatat, N.; Al Qaisi, M.

Source: Vehicle System Dynamics, Volume 47, Number 1, January 2009 , pp. 121-134(14)

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Abstract:

Linear matrix inequality (LMI) methods, novel techniques in solving optimisation problems, were introduced as a unified approach for vehicle's active suspension system controller design. LMI methods were used to provide improved and computationally efficient controller design techniques. The active suspension problem was formulated as a standard convex optimisation problem involving LMI constraints that can be solved efficiently using recently developed interior point optimisation methods. An LMI based controller for a vehicle system was developed. The controller design process involved setting up an optimisation problem with matrix inequality constraints. These LMI constraints were derived for a vehicle suspension system. The resulting LMI controller was then tested on a quarter-car model using computer simulations. The LMI controller results were compared with an optimal PID controller design solution. The LMI controller was further tested by incorporating a nonlinear term in the vehicle's suspension model; the LMI's controller degraded response was enhanced by using gain-scheduling techniques. The LMI controller with gain-scheduling gave good results in spite of the unmodelled dynamics in the suspension system, which was triggered by large deflections due to off-road driving.

Keywords: active suspension; LMI; vehicle dynamics; robust control; vibration control

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00423110801934007

Affiliations: 1: Department of Mechanical Engineering, Faculty of Engineering and Technology, University of Jordan, Amman, Jordan

Publication date: 2009-01-01