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Robust H∞ Preview Control of an Active Suspension System with Norm-bounded Uncertainties
유성필,박영진,김윤선 한국자동차공학회 2008 International journal of automotive technology Vol.9 No.5
A robust H∞ preview control is investigated for an active suspension system with look-ahead sensors. The uncertain system is described by a state-space model with linear nominal parts and additional nonlinear time-varying normbounded uncertainties. Proof of robust stability and a feedback-type robust H∞ preview controller are derived by augmenting the dynamics of the original system and previewed road input. As, however, the augmented previewed road input gives the system a much larger dimension than the original system, much more computation time is required for solving of Riccati equations. To resolve this problem, a decomposed robust H∞ preview controller is proposed. Robust stability and performance variations for system uncertainties are shown using a numerical example of a quarter-car model. A robust H∞ preview control is investigated for an active suspension system with look-ahead sensors. The uncertain system is described by a state-space model with linear nominal parts and additional nonlinear time-varying normbounded uncertainties. Proof of robust stability and a feedback-type robust H∞ preview controller are derived by augmenting the dynamics of the original system and previewed road input. As, however, the augmented previewed road input gives the system a much larger dimension than the original system, much more computation time is required for solving of Riccati equations. To resolve this problem, a decomposed robust H∞ preview controller is proposed. Robust stability and performance variations for system uncertainties are shown using a numerical example of a quarter-car model.