An MPC-LQR-LPV Controller with Quadratic Stability Conditions for a Nonlinear Half-Car Active Suspension System with Electro-Hydraulic Actuators

The active suspension system of a vehicle manipulated using electro-hydraulic actuators is a challenging nonlinear control problem. In this research work, a novel Linear Parameter Varying (LPV) State-Space (SS) model with a fictional input is proposed to represent a nonlinear half-car active suspens...

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Bibliographic Details
Published inMachines (Basel) Vol. 10; no. 2; p. 137
Main Authors Rodriguez-Guevara, Daniel, Favela-Contreras, Antonio, Beltran-Carbajal, Francisco, Sotelo, Carlos, Sotelo, David
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.02.2022
Subjects
Actuators
Algorithms
Control stability
Controllers
electro-hydraulic actuator
Equilibrium
half-car active suspension
Hydraulic equipment
hydraulic suspension
Hydraulics
Linear matrix inequalities
linear parameter varying
Linear quadratic regulator
Mathematical models
model predictive control
Nonlinear control
Nonlinearity
Optimization
Parameters
Partial differential equations
Predictive control
quadratic stability
Scheduling
Suspension systems
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Summary:The active suspension system of a vehicle manipulated using electro-hydraulic actuators is a challenging nonlinear control problem. In this research work, a novel Linear Parameter Varying (LPV) State-Space (SS) model with a fictional input is proposed to represent a nonlinear half-car active suspension system. Four different scheduling parameters are used to embed the nonlinearities of both the suspension and the electro hydraulic actuators to represent its nonlinear behavior. A recursive least squares (RLS) algorithm is used to predict the future behavior of the scheduling parameters along the prediction horizon. A Model Predictive Control-Linear Quadratic Regulator (MPC-LQR) is implemented as the control strategy and, to ensure stability, Quadratic Stability conditions are imposed as Linear Matrix Inequalities (LMI) constraints. Furthermore, the inclusion of attraction sets to overcome the conservative performance imposed by the Quadratic Stability conditions is included, as well as a terminal set were the switching between the MPC and the LQR controller is made. Simulations results for the half-car active suspension model over a typical road disturbance are tested to show the effectiveness of the proposed MPC-LQR-LPV controller with quadratic stability conditions in terms of comfort and road-holding.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines10020137