CAN-Based Vibration Control for Networked Vehicle Active Suspension with Both Network-Induced Delays and Packet-Dropouts

Abstract

Ride comfort and driving safety are highly vulnerable to the undesirable excessive vibrations caused by road surface irregularities and the imperfect in-vehicle network (IVN). The main contribution of this paper consists of proposing a near-optimal vibration control approach for networked vehicle active suspension under irregular road excitations in a discrete-time domain, in which the uncertain time delay and packet dropout in CAN are taken into consideration. More specially, by virtue of two buffers of the sensor-to-controller network channel and the controller-to-actuator network channel in CAN, by introducing a designed state-transformation-based method, the original vibration control problem under the constraints of the irregular road excitations and imperfect CAN is transformed into a two-point boundary value (TPBV) problem without advanced and delayed items. After that, the near-optimal vibration control approach is presented to isolate the vehicle body from the road excitations and compensate the time delay and packet dropout from CAN synchronously. The stability condition of the networked vehicle active suspension under the proposed vibration controller is obtained based on the Lyapunov function. In numerous scenarios with different road roughnesses and network-induced time delays and packet dropouts, the simulation results illustrate the effectiveness and superiority of the proposed near-optimal vibration controller.