Title: Attitude and handling improvements based on optimal skyhook and feedforward strategy with semi-active suspensions

Authors: Charles Poussot-Vassal, Olivier Sename, Luc Dugard

Addresses: GIPSA-lab (former LAG) Grenoble INP-CNRS, Domaine Universitaire ENSIEG BP46, 38402 St Martin d'Heres, France. ' GIPSA-lab (former LAG) Grenoble INP-CNRS, Domaine Universitaire ENSIEG BP46, 38402 St Martin d'Heres, France. ' GIPSA-lab (former LAG) Grenoble INP-CNRS, Domaine Universitaire ENSIEG BP46, 38402 St Martin d'Heres, France

Abstract: In this paper, we derive a strategy for global chassis attitude control using semi-active suspensions. For this purpose, a two stage control strategy is designed through an optimal skyhook control, based on industrial specifications and an anticipation handling strategy. This design advantage is its simplicity which makes it easily implementable on a real-time embedded application. Simulations on a non-linear full vehicle model with semi-active magneto-rheological-damper (system actuator) are performed to show the method efficiency.

Keywords: anti-roll distribution strategy; autonomous vehicles; global chassis control; magnetorheological damper; semi-active suspension; skyhook control; feedforward; vehicle suspensions; vehicle attitude; vehicle handling.

DOI: 10.1504/IJVAS.2008.023589

International Journal of Vehicle Autonomous Systems, 2008 Vol.6 No.3/4, pp.308 - 329

Published online: 02 Mar 2009 *

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