Title: A feedback-feedforward suspension control strategy for global chassis control through anti-roll distribution

Authors: Alessandro Zin, Olivier Sename, Luc Dugard

Addresses: GIPSA-Lab, Department of Control Systems, Grenoble Universites, ENSE3 – BP46, 38402 Saint Martin d'Heres – Cedex, France. ' GIPSA-Lab, Department of Control Systems, Grenoble Universites, ENSE3 – BP46, 38402 Saint Martin d'Heres – Cedex, France. ' GIPSA-Lab, Department of Control Systems, Grenoble Universites, ENSE3 – BP46, 38402 Saint Martin d'Heres – Cedex, France

Abstract: A new global chassis control strategy developed in two steps is proposed using the suspension actuators only. First, a robust H_∞ Linear Parameter Varying (LPV) suspension controller is designed to ensure robust performance w.r.t parameter uncertainties. The interest of such a controller relies on its inherent structure which allows for performance adaptation through the variation of a scalar coefficient c₀. The second step consists in adding a feedforward compensator which controls the anti-roll distribution of the suspension forces to improve the vehicle safety in the presence of longitudinal and lateral disturbances. The control scheme consists in controlling the yaw rate through a model reference control. The global chassis control then relies on the adaptation of the suspension performance (comfort/safety), according to the anti-roll distribution. The interest of the methodology is emphasised through numerical simulations on a full vehicle nonlinear model, including chassis and tyres.

Keywords: feedback-feedforward control; global chassis control; active suspension; yaw control; anti-roll distribution; H-infinity control; linear parameter varying systems; suspension actuators; robust control; linear parameter varying control; LPV suspension control; vehicle safety; model reference control; ride comfort; numerical simulation; vehicle suspension.

DOI: 10.1504/IJVAS.2009.033261

International Journal of Vehicle Autonomous Systems, 2009 Vol.7 No.3/4, pp.201 - 220

Published online: 14 May 2010 *

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