Adaptive robust control for active suspensions

Abstract

This paper presents a nonlinear active suspension controller, which achieves high pefiormance by compensating for the hydraulic actuator dynamics. The control design problem is decomposed into two loops. At the top is the main loop, which calculates the desired force signal by using a standardLQ design process. An Adaptive Robust Control technique is used to design a force controller such that it is robust against actuator uncertainties. Both State feedback and output feedback algorithms are presented. Simulation results show that the proposed controller works well compared with conventional controllers.