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This paper presents a new methodology for suspension control in view of global chassis control, developed in particular to guarantee greater driving safety and comfort. The control of the suspension subsystem allows the vehicle road holding (safety) and passenger comfort to be improved, but not at the same time. In order to reach them for every driving situation, an 'adaptive' two-degrees-of-freedom controller for active suspensions is proposed. This control architecture is 'open' and could be linked and aggregated to many other controllers of vehicle dynamics. This control strategy ensures, on the one hand, the robustness in performances with respect to parameter uncertainties and, on the other hand, the trade-off between road holding and comfort. The proposed design is based on the LPV/H ∞ theory. Robust stability and performances are analysed within the μ-analysis framework.

Abstract-The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded modelbased control scheme that is built upon the concept of backstepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

Abstract-In this paper an integrated control structure with individual active control mechanisms, i.e. active anti-roll bars, active suspensions, and an active brake mechanism, is proposed. Its purpose is to improve rollover prevention, passenger comfort, road holding and guarantee the suspension working space. In the control design the performance specifications both for rollover and suspension problems, and the model uncertainties are taken into consideration. In the weighting strategy of control design fault information is also taken into consideration. The design of the control system is based on an H∞ Linear Parameter Varying (LPV) method. To enhance the performance of the controlled system, the control mechanism is extended with a prediction procedure, in which an observerbased prediction algorithm is proposed.