Design of a fast real-time LPV model predictive control system for semi-active suspension control of a full vehicle

• Published in: Journal of the Franklin Institute Vol. 356; no. 3; pp. 1196 - 1224
• Main Authors: Morato, Marcelo Menezes, Nguyen, Manh Quan, Sename, Olivier, Dugard, Luc
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.02.2019; Elsevier Science Ltd; Elsevier
• Subjects: Active control; Algorithms; Automatic Control Engineering; Computer Science; Computer simulation; Control systems; Control theory; Dampers; Energy dissipation; Mathematical models; Nonlinear control; Predictive control; Real time; Rheological properties; Rheology; Semiactive suspensions; Suboptimal Optimization; Vehicle Systems; Semi-Active Suspensions; H 2 Extended Observer; LPV Control; Fast Model Predictive Control
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2018.11.016

•This study proposes a fast control scheme aiming the optimal handling and comfort performances of a full vehicle with four semi-active suspensions.•The control structure is a Model Predictive Controller with a Linear Parameter Varying model of the (nonlinear) vehicle system.•The computation of the control law is sub-optimal, being computed within 5 ms, apt for a real-time implementation.•An H 2 extended observer is also designed, in order to estimate the system's states and the road profile the vehicle is subject to, validated in a real experimental test-rig.•The studied control method is compared, through realistic nonlinear simulation, to an analytical clipped MPC and to an uncontrolled (passive) damper, in order to illustrate a much improved performance. This article is concerned with the control of a Semi-Active suspension system of a 7DOF Full Vehicle model, equipped with four Electro Rheological (ER) dampers, taking into account their incipient dissipativity constraints. Herein, a real-time, fast, advanced control structure is presented within the Model Predictive Control framework for Linear Parameter Varying (LPV) systems. The control algorithm is developed to provide a suitable trade-off between comfort and handling performances of the vehicle in a very limited sampling period (Ts=5ms), in view of a possible realtime implementation on a real vehicle. The control structure is tested and compared to other standard fast control approaches. Full nonlinear realistic simulation results illustrate the overall good operation and behaviour of the proposed control approach.