Backstepping LQG controller design for stabilizing and trajectory tracking of vehicle suspension system

Patra, Akshaya Kumar

doi:10.1007/s42452-020-1945-7

Cited by 13 publications

(3 citation statements)

References 18 publications

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“…More precisely, Mcgee et al [18] studied various types of nonlinearities in suspension systems and demonstrated that cubic nonlinearity in the suspension spring is essential for accurate suspension system modeling. Nonlinear control strategies are also applied in active suspension systems featuring nonlinearity, including Linear Parameter Varying Control (LPV) [19][20][21], backstepping control [22][23][24], Sliding Mode Control [25][26][27], and feedback linearization [28][29][30].…”

Section: Introductionmentioning

confidence: 99%

Enhancing Mechanical Safety in Suspension Systems: Harnessing Control Lyapunov and Barrier Functions for Nonlinear Quarter Car Model via Quadratic Programs

Shaqarin,

Noack

2024

Applied Sciences

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Limiting the suspension stroke in vehicles holds critical and conceivable benefits. It is crucial for the safety, stability, ride comfort, and overall performance of the vehicle. Furthermore, it improves the reliability of suspension components and maintains consistent handling during regular and rough driving conditions. Hence, the design of a safety-critical controller to limit the suspension stroke for active suspension systems is of high importance. In this study, we employed a quarter-car model that incorporates a suspension spring with cubic nonlinearity. The proposed safety-critical controller is the control Lyapunov function–control barrier function–quadratic programming (CLF-CBF-QP). Initially, we designed the reference controller as a linear quadratic regulator (LQR) controller based on the linearized quarter-car model. The reference state-feedback LQR controller simplified the design of the control Lyapunov function. Consequently, from the nonlinear model, we construct a simple control Lyapunov function that relies only on the sprung mass velocity to have a relative degree of one. The CLF intends to improve the performance by considering the nonlinearity and via online optimization. We then formulate the control barrier function to restrict the suspension stroke from breaching its limits. To assess the effectiveness of the proposed controller, we present two challenging road inputs for the nonlinear quarter-car model when employing CLF-CBF-QP and LQR controllers. The CLF-CBF-QP findings surpassed the LQR controller in terms of safety and performance. This study highlights the immense potential of CLF-CBF-QP for suspension systems, improving the time-domain performance, limiting the suspension stroke, and guaranteeing safety.

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Section: Introductionmentioning

confidence: 99%

Enhancing Mechanical Safety in Suspension Systems: Harnessing Control Lyapunov and Barrier Functions for Nonlinear Quarter Car Model via Quadratic Programs

Shaqarin,

Noack

2024

Applied Sciences

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“…For systems with multiple objects, either LQR (Linear Quadratic Regulator) or LQG (Linear Quadratic Gaussian) control algorithms are preferable 25 . By reducing the cost function, this approach will assist in optimizing automobile vibration 26 . Frequently, the preceding techniques are used to operate linear systems.…”

Section: Introductionmentioning

confidence: 99%

A novel approach with a fuzzy sliding mode proportional integral control algorithm tuned by fuzzy method (FSMPIF)

Nguyen

2023

Sci Rep

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An automobile's vibration can be caused by stimulation from the road's surface. The change in displacement and acceleration values of the sprung mass is used to evaluate the automobile's vibration. Utilizing an active suspension system is recommended in order to attain an increased level of ride comfort. This article presents a novel strategy for regulating the operation of an active suspension system that has been put up for consideration. The PI (Proportional Integral) algorithm, the SMC (Sliding Mode Control) algorithm, and the Fuzzy algorithm served as the basis for developing the FSMPIF algorithm. The signal generated by the SMC algorithm is what is used as the input for the Fuzzy algorithm. In addition, the settings of the PI controller are modified with the help of yet another Fuzzy algorithm. These two Fuzzy methods operate independently from one another and in a setting that is wholly distinct from one another. This algorithm was created in a wholly original and novel way. Using a numerical modelling technique, the vibration of automobiles is investigated with a particular emphasis on two distinct usage situations. In each case, a comparison is made between four different circumstances. Once the FSMPIF method is implemented, the results of the simulation process have demonstrated that the values of displacement and acceleration of the sprung mass are significantly decreased. This was determined by looking at the values before and after implementing the new algorithm. In the first case, these figures do not surpass a difference of 2.55% compared to automobiles that use passive suspension systems. The second case sees these figures falling short of 12.59% in total. As a direct result, the automobile's steadiness and level of comfort have been significantly improved.

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“…If it can be represented as a spring, a hydraulic jack could be used to carry out tasks related to vibration control, including the mitigation of harmful earthquake effects, as springs are widely used in the modeling and control of several kinds of mechanisms. 12,13 They are especially used for vehicular suspension, 14,15 including devices based on the concept of air springs, where the mechanical properties and the spring coefficient are determined experimentally. 16 Air is a fluid, in the same way as oil, but with much lower density and viscosity.…”

Section: Introductionmentioning

confidence: 99%

Assessment of a hydraulic bottle jack as an effective device for controlling vibration and mitigating the effects of earthquakes

Wahrhaftig,

Menezes,

Conceiçao

et al. 2023

Journal of Low Frequency Noise, Vibration and Active Control

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The aim of this work was to assess the capability of a hydraulic bottle jack to control vibrations and the effects of earthquakes. The first stage of the present investigation focused on determining the axial stiffness of the apparatus, in order to relate its behavior to that of a linear elastic element. To do this, uniaxial compression tests were carried out using a manually controlled servo system. In the second stage, a conceptual application based on the field of mechanical vibrations was considered. The experimental results confirmed the hypothesis of linear behavior and showed that the stiffness coefficient had distinct values of magnitude that depended on the cylinder height. Simulations were conducted in which the frequencies and the peak displacements of an idealized SDOF system subjected to earthquake excitation were adjusted based on the experimental stiffness. It was possible to conclude that the equipment analyzed here is an effective tool for controlling vibration and reducing displacement during a seismic event, and can be calibrated according to the specific conditions of operation. This is an important aspect of safety and functionality for mechanical and structural systems.

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Backstepping LQG controller design for stabilizing and trajectory tracking of vehicle suspension system

Cited by 13 publications

References 18 publications

Enhancing Mechanical Safety in Suspension Systems: Harnessing Control Lyapunov and Barrier Functions for Nonlinear Quarter Car Model via Quadratic Programs

Enhancing Mechanical Safety in Suspension Systems: Harnessing Control Lyapunov and Barrier Functions for Nonlinear Quarter Car Model via Quadratic Programs

A novel approach with a fuzzy sliding mode proportional integral control algorithm tuned by fuzzy method (FSMPIF)

Assessment of a hydraulic bottle jack as an effective device for controlling vibration and mitigating the effects of earthquakes

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