Robust impedance control of a hydraulic suspension system

• Published in: International journal of robust and nonlinear control Vol. 20; no. 8; pp. 858 - 872
• Main Author: Fateh, Mohammad Mehdi
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Ltd 25.05.2010
• Subjects: active suspension system; Comfort; Computer simulation; Handling; hydraulic suspension; Hydraulics; Impedance; Materials handling; Nonlinearity; robust impedance control; Suspension systems; uncertainty
• ISSN: 1049-8923; 1099-1239; 1099-1239
• DOI: 10.1002/rnc.1473

A novel robust impedance control approach is developed to control dynamic behavior of a vehicle subject to road disturbances. This behavior is predetermined as an impedance rule to achieve passenger comfort and vehicle handling by the use of a hydraulically actuated suspension system. Impedance control law is simple, free of model and efficient to apply for a broad range of road conditions. Moreover, it relates comfort to handling. This control approach can provide a desired comfort when passing a bump, and both desired comfort and handling after passing a bump. Robust position and force controls are used to implement the robust impedance control with the presence of uncertainties. A transformed proportional–integral–derivative control is proposed to perform the robust control. The system stability is analyzed and analytical results are confirmed by simulations. A quarter‐car model of suspension system and a nonlinear model of hydraulic actuator are used to simulate the control system. Copyright © 2009 John Wiley & Sons, Ltd.