TU Darmstadt / ULB / TUbiblio

Optimal and robust damping control for semi-active vehicle suspension

Rettig, U. and Stryk, Oskar von (2005):
Optimal and robust damping control for semi-active vehicle suspension.
In: 5th EUROMECH Nonlinear Dynamics Conference (ENOC5), Eindhoven, The Netherlands, 7. – 12. August 2005, pp. 20-316, [Conference or Workshop Item]

Abstract

The paper focusses on optimal control issues arising in semi-active vehicle suspension motivated by the application of continuously controllable ERF-shock absorbers. Optimality of the damping control is measured by an objective consisting of a weighted sum of criteria related to safety and comfort which depend on the state variables of the vehicle dynamics model. In the case of linear objectives and linear quarter or half car dynamics models the well-known linear quadratic regulators can be computed. However, to account for maximum robustness with respect to unknown perturbations, e.g., by the ground, linear robust-optimal H-infinity controllers are investigated which can be computed iteratively. The linear H-infinity controller can be viewed as the solution of a linear dynamic zero-sum differential game. Thus, a nonlinear H-infinity controller can be obtained in principle as the solution of a nonlinear zero-sum dynamic game problem. Such a problem formulation enables to consider nonlinear vehicle dynamics as well as nonlinear objectives and constraints. A computational method is discussed which computes approximations of robust-optimal trajectories for nonlinear damping control. The method is based on a reformulation of the dynamic game and the application of a control and state parameterization approach in combination with sparse nonlinear programming methods. Numerical results for the different approaches and their validation by software-in-the-loop simulation using a full motor vehicle dynamics model are presented.

Item Type: Conference or Workshop Item
Erschienen: 2005
Creators: Rettig, U. and Stryk, Oskar von
Title: Optimal and robust damping control for semi-active vehicle suspension
Language: English
Abstract:

The paper focusses on optimal control issues arising in semi-active vehicle suspension motivated by the application of continuously controllable ERF-shock absorbers. Optimality of the damping control is measured by an objective consisting of a weighted sum of criteria related to safety and comfort which depend on the state variables of the vehicle dynamics model. In the case of linear objectives and linear quarter or half car dynamics models the well-known linear quadratic regulators can be computed. However, to account for maximum robustness with respect to unknown perturbations, e.g., by the ground, linear robust-optimal H-infinity controllers are investigated which can be computed iteratively. The linear H-infinity controller can be viewed as the solution of a linear dynamic zero-sum differential game. Thus, a nonlinear H-infinity controller can be obtained in principle as the solution of a nonlinear zero-sum dynamic game problem. Such a problem formulation enables to consider nonlinear vehicle dynamics as well as nonlinear objectives and constraints. A computational method is discussed which computes approximations of robust-optimal trajectories for nonlinear damping control. The method is based on a reformulation of the dynamic game and the application of a control and state parameterization approach in combination with sparse nonlinear programming methods. Numerical results for the different approaches and their validation by software-in-the-loop simulation using a full motor vehicle dynamics model are presented.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: 5th EUROMECH Nonlinear Dynamics Conference (ENOC5)
Event Location: Eindhoven, The Netherlands
Event Dates: 7. – 12. August 2005
Date Deposited: 30 Oct 2019 09:49
Related URLs:
Export:
Suche nach Titel in: TUfind oder in Google
Send an inquiry Send an inquiry

Options (only for editors)

View Item View Item