Observer-based robust gain-scheduled control for semi-active air suspension systems subject to uncertainties and external disturbance
In this paper, an observer-based robust gain-scheduled control scheme is designed for a semi-active air suspension (SAAS) system subject to uncertainties and external disturbance. Since the air spring in SAAS system is a highly nonlinear component and its stiffness relies on the spring interior pres...
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| Published in | Mechanical systems and signal processing Vol. 173; p. 109045 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Berlin
Elsevier Ltd
01.07.2022
Elsevier BV |
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| Online Access | Get full text |
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| Abstract | In this paper, an observer-based robust gain-scheduled control scheme is designed for a semi-active air suspension (SAAS) system subject to uncertainties and external disturbance. Since the air spring in SAAS system is a highly nonlinear component and its stiffness relies on the spring interior pressure and displacement, an air spring model is constructed based on aerothermodynamics theory. Aiming at comprehensive and simplified expression of air spring nonlinear dynamics, the air spring model is expressed as linear-parameter-varying (LPV) form and further integrated into a quarter car semi-active air suspension model. To identify system states under the noisy condition with lower cost, a LPV-Kalman filter is proposed to estimate the states which are difficult to be measured or physically unmeasurable in the semi-active air suspension. With the proposed observer, a robust gain-scheduled controller is developed to overcome complex nonlinear dynamics, actuator uncertainties and external disturbance. To realize a better transient response, the control law is improved by constraining eigenvalues of the closed-loop system in desired linear matrix inequality (LMI) region. At last, simulations and experiments are conducted to illustrate the effectiveness of proposed control scheme in a quarter car test rig. |
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| AbstractList | In this paper, an observer-based robust gain-scheduled control scheme is designed for a semi-active air suspension (SAAS) system subject to uncertainties and external disturbance. Since the air spring in SAAS system is a highly nonlinear component and its stiffness relies on the spring interior pressure and displacement, an air spring model is constructed based on aerothermodynamics theory. Aiming at comprehensive and simplified expression of air spring nonlinear dynamics, the air spring model is expressed as linear-parameter-varying (LPV) form and further integrated into a quarter car semi-active air suspension model. To identify system states under the noisy condition with lower cost, a LPV-Kalman filter is proposed to estimate the states which are difficult to be measured or physically unmeasurable in the semi-active air suspension. With the proposed observer, a robust gain-scheduled controller is developed to overcome complex nonlinear dynamics, actuator uncertainties and external disturbance. To realize a better transient response, the control law is improved by constraining eigenvalues of the closed-loop system in desired linear matrix inequality (LMI) region. At last, simulations and experiments are conducted to illustrate the effectiveness of proposed control scheme in a quarter car test rig. |
| ArticleNumber | 109045 |
| Author | Yang, Zhao-Xu Wang, Hang Yang, Zhi-Xin Kin Wong, Pak Zhao, Jing |
| Author_xml | – sequence: 1 givenname: Hang surname: Wang fullname: Wang, Hang organization: Department of Electromechanical Engineering, University of Macau, Taipa 999078, Macau – sequence: 2 givenname: Pak surname: Kin Wong fullname: Kin Wong, Pak email: fstpkw@um.edu.mo organization: Department of Electromechanical Engineering, University of Macau, Taipa 999078, Macau – sequence: 3 givenname: Jing surname: Zhao fullname: Zhao, Jing organization: Department of Electromechanical Engineering, University of Macau, Taipa 999078, Macau – sequence: 4 givenname: Zhao-Xu surname: Yang fullname: Yang, Zhao-Xu organization: State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace Engineering, Xi’an Jiaotong University, West Xianming Road, Xi’an 710049, Shaanxi, China – sequence: 5 givenname: Zhi-Xin surname: Yang fullname: Yang, Zhi-Xin organization: State Key Laboratory of Internet of Things for Smart City, and Department of Electromechanical Engineering, University of Macau, Avenida da Universidade, Taipa 999078, Macau |
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| Keywords | Linear parameter varying system Gain-scheduled control Semi-active air suspension system Kalman filter |
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| Snippet | In this paper, an observer-based robust gain-scheduled control scheme is designed for a semi-active air suspension (SAAS) system subject to uncertainties and... |
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| SubjectTerms | Active control Actuators Aerothermodynamics Air springs Control theory Dynamical systems Eigenvalues Feedback control Gain-scheduled control Kalman filter Kalman filters Linear matrix inequalities Linear parameter varying system Nonlinear dynamics Robust control Semi-active air suspension system Semiactive suspensions Stiffness Suspension systems Transient response Uncertainty |
| Title | Observer-based robust gain-scheduled control for semi-active air suspension systems subject to uncertainties and external disturbance |
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