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23-06-2020 | Research Article-Systems Engineering | Issue 8/2020

Arabian Journal for Science and Engineering 8/2020

Invariant Sets in Saturated and Robust Vehicle Suspension Control

Journal:
Arabian Journal for Science and Engineering > Issue 8/2020
Authors:
Hisham M. Soliman, Khaled El-Metwally, Mostafa Soliman

Abstract

This manuscript introduces a new robust control design of car active suspension systems using ellipsoidal techniques. The impact of road irregularities is regarded as an external disturbance. The suggested controller meets the following objectives: optimal passenger comfort, actuator control force limit satisfaction, effective disturbance rejection, and robustness against changes in passengers’ load. The passenger load variations cause system uncertainty that is modeled as norm-bounded. A new sufficient condition is established based on the invariant ellipsoid method and the linear matrix inequalities optimization to guarantee robust stability and performance for the system. Time-domain model of road roughness based on trigonometric functions is studied. The performance of the proposed controller is tested using a quarter-car model with an active suspension system. Comparative simulation with other techniques, e.g., H and regional pole placement, is given. Actuator dynamics and system nonlinearities are modeled and included in the design at the end.

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