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Active suspension design for a tractor by optimal control methods

Koslik, B. and Rill, G. and Stryk, Oskar von and Zampieri, D. (1998):
Active suspension design for a tractor by optimal control methods.
[Report]

Abstract

An active suspension system for improving the ride comfort and safety of a tractor is investigated. The underlying planar dynamic tractor model and a suitable objective for optimal suspension are introduced. The problem of optimal active suspension leads to a linear-quadratic optimal control problem. Classical Linear-Quadratic Regulator (LQR) theory provides a closed-loop control for the steady state problem which is optimal only for an initial disturbance input from the road. A direct transcription method can handle more general disturbances and models but provides only an open-loop solution, where the time history of the optimal control is given along the optimal trajectory for one type of deterministic disturbance and initial value only. Simulation results for two different road disturbances are given comparing both approaches.

Item Type: Report
Erschienen: 1998
Creators: Koslik, B. and Rill, G. and Stryk, Oskar von and Zampieri, D.
Title: Active suspension design for a tractor by optimal control methods
Language: English
Abstract:

An active suspension system for improving the ride comfort and safety of a tractor is investigated. The underlying planar dynamic tractor model and a suitable objective for optimal suspension are introduced. The problem of optimal active suspension leads to a linear-quadratic optimal control problem. Classical Linear-Quadratic Regulator (LQR) theory provides a closed-loop control for the steady state problem which is optimal only for an initial disturbance input from the road. A direct transcription method can handle more general disturbances and models but provides only an open-loop solution, where the time history of the optimal control is given along the optimal trajectory for one type of deterministic disturbance and initial value only. Simulation results for two different road disturbances are given comparing both approaches.

Uncontrolled Keywords: optimal active suspension; steady-state LQR problem; closed-loop solution; open-loop solution; direct transcription method
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 24 Jun 2019 13:37
Additional Information:

23 S., Eingereicht bei: Optimal Control, Applications and Methods

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