Development of Robust Guaranteed Cost Mixed Control System for Active Suspension of In-Wheel-Drive Electric Vehicles

Abstract

This paper presents a mixed H2/H∞-based robust guaranteed cost control system design of an active suspension system for in-wheel-independent-drive electric vehicles considering suspension performance requirements and parameter variation. In the active suspension system model, parameter uncertainties of active suspension are described by the bounded method, and the perturbation bounds can be also limited; then, the uncertain quarter-vehicle active suspension model where in-wheel motor is suspended as a dynamic vibration absorber is established. The robust guaranteed cost mixed H2/H∞ feedback controller of the closed-loop active suspension system is designed using Lyapunov stability theory, in which the suspension working space, dynamic tire displacement, and the active control force are taken as H∞ performance indices, the H2 norm of body acceleration is selected as the output performance index to be minimized, and then a comprehensive solution is transformed into a convex optimization problem with linear matrix inequality constraints. Simulations on random and bump road excitations are implemented to verify and evaluate the performance of the designed controller. The results show that the active suspension with developed robust mixed H2/H∞ controller can effectively achieve better ride comfort and road-holding ability compared with passive suspension and alone H∞ controller.

A new approach to controlling an active suspension system based on reinforcement learning

“…Jin et al 64–66 used the Active Suspension of In-Wheel-Drive Electric Vehicles (IWMD-EV) solution. In order to achieve better driving comfort and reduce the force applied to the motor bearing in the wheel, a robust H ∞ dynamic output feedback controller 64,66 and μ -Synthesis Methodology 65 have been derived so that the closed loop system has asymptotic stability and simultaneously satisfies stress performance such as road holding, suspension travel, dynamic load applied to bearings, and limitation of actuators. Finally, the simulation results demonstrated that the proposed controller offered better suspension performance despite the faults of the actuators and the time delay.…”

“…Jin et al [64][65][66] used the Active Suspension of In-Wheel-Drive Electric Vehicles (IWMD-EV) solution.…”

“…À10 X s À X r j j 2 À 10 X us À X r j j 2 1.020 0:15 " À 0:22 # (3) À10 X s À X r j j 2 À 10 X us À X r j j 2 À € X s 0.922 0:10 " À 0:20 # (4) À10 X s À X r j j 2 À 10 X us À X r j jÀ € X s 0.930 0:05 " À 0:06 # (5) À10 X s À X r j j 2 À 100 X us À X r j j 2 À € X s 2 0.759 0:13 " À 0:09 # (6) À10 X s À X r j j 2 À 100 X us À X r j jÀ 100 € X s 2 0.180 À0:53 # 0:13 " (7) À10 X s À X r j j 2 À 100 X us À X r j jÀ 10 € X s 2 0.804 0:01 " À 0:01 # In order to achieve better driving comfort and reduce the force applied to the motor bearing in the wheel, a robust H' dynamic output feedback controller 64,66 and m-Synthesis Methodology 65 have been derived so that the closed loop system has asymptotic stability and simultaneously satisfies stress performance such as road holding, suspension travel, dynamic load applied to bearings, and limitation of actuators. Finally, the simulation results demonstrated that the proposed controller offered better suspension performance despite the faults of the actuators and the time delay.…”

Applying a PID-SMC synthetic control algorithm to the active suspension system to ensure road holding and ride comfort

“…This algorithm is established based on the theory of H 2 and H ∞ with oscillating state matrices [ 17 ]. Today, the Robust control algorithm can be applied to the suspension system model of passenger cars, heavy trucks, and electric vehicles [ 18 , 19 ]. For systems oscillating continuously under different conditions, an Adaptive control algorithm is a suitable choice [ 20 , 21 ].…”

An Adaptive Controller Design for Nonlinear Active Air Suspension Systems with Uncertainties

“…Up to now, active suspension is gradually being widely used, and many papers have proposed control methods of active suspension, such as H-infinity control [2][3][4][5].…”