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A clipped-optimal control algorithm for semi-active vehicle suspensions: Theory and experimental evaluation


Type

Article

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Authors

Brezas, P 
Smith, MC 
Hoult, W 

Abstract

This paper addresses the problem of optimal control for semi-active vehicle suspensions. A specific goal is to develop an algorithm which is capable of optimising ride and handling behaviour simultaneously in an experimental situation. A time-domain optimal control approach is adopted in which ride and handling are modelled as exogenous disturbances acting on the vehicle: road disturbances (modelled stochastically), and driver inputs (treated as deterministic quasi-static disturbances). A control algorithm is derived from a solution of the stochastic Hamilton–Jacobi–Bellman equation for the finite horizon case. The advantages of the approach are demonstrated experimentally on a test vehicle performing a steering manoeuvre on a bumpy roundabout.

Description

Keywords

Optimal control, Semi-active suspension, Observer design, State-space methods

Journal Title

Automatica

Conference Name

Journal ISSN

0005-1098
1873-2836

Volume Title

53

Publisher

Elsevier BV
Sponsorship
Engineering and Physical Sciences Research Council (EP/G066477/1)
This work was supported in part by J.S. Latsis Foundation, Greece, EPSRC industrial case studentship (07002200) and EPSRC programme grant EP/G066477/1.