Journal
AUTOMATICA
Volume 53, Issue -, Pages 188-194Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2014.12.026
Keywords
Optimal control; Semi-active suspension; Observer design; State-space methods
Funding
- J.S. Latsis Foundation, Greece
- EPSRC [07002200, EP/G066477/1]
- EPSRC [EP/G066477/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [EP/G066477/1] Funding Source: researchfish
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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. (C) 2014 The Authors. Published by Elsevier Ltd.
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