Road Disturbance

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Halil Ibrahim Basturk - One of the best experts on this subject based on the ideXlab platform.

  • Adaptive Backstepping Control Design for Active Suspension Systems with Output Feedback
    2019 American Control Conference (ACC), 2019
    Co-Authors: Cemal Tugrul Yilmaz, Halil Ibrahim Basturk
    Abstract:

    The paper focuses on designing an output-feedback adaptive controller which maintains the comfort and safety of the vehicle body. The Road Disturbance is modelled as a finite sum of sinusoidal waves with unknown frequencies, amplitudes and phases. The Road Disturbance is parametrized and estimation of the derivative of the unknown Road profile as well as the unmeasured system states are achieved. An adaptive controller is proposed using a backstepping approach. It is shown that the equilibrium of the closed loop system is exponentially stable. The effectiveness of the observer and controller designs is illustrated with a simulation of a Road test.

  • ACC - Adaptive Backstepping Control Design for Active Suspension Systems with Output Feedback
    2019 American Control Conference (ACC), 2019
    Co-Authors: Cemal Tugrul Yilmaz, Halil Ibrahim Basturk
    Abstract:

    The paper focuses on designing an output-feedback adaptive controller which maintains the comfort and safety of the vehicle body. The Road Disturbance is modelled as a finite sum of sinusoidal waves with unknown frequencies, amplitudes and phases. The Road Disturbance is parametrized and estimation of the derivative of the unknown Road profile as well as the unmeasured system states are achieved. An adaptive controller is proposed using a backstepping approach. It is shown that the equilibrium of the closed loop system is exponentially stable. The effectiveness of the observer and controller designs is illustrated with a simulation of a Road test.

  • Hardware-In-the-Loop Simulation for Semi-Active Suspension System with Using Adaptive Backstepping Approach
    2018 6th International Conference on Control Engineering & Information Technology (CEIT), 2018
    Co-Authors: Gokhan Kararsiz, Mahmut Paksoy, Muzaffer Metin, Halil Ibrahim Basturk
    Abstract:

    This study presents an approach for designing an adaptive backstepping controller with unmeasured Road Disturbance to suppress the acceleration level of the vehicle body. It is considered that the unmeasured Disturbance consist of a summation of a final number of sinusoidal signals with unknown parameters. Then, the observer is constructed. To generate the actuator force of MR damper, backstepping approach with using adaptive control technique is employed. To show the performance of the proposed controller, a Hardware In-Loop Simulation is prepared.

  • A backstepping approach for an active suspension system
    2016 American Control Conference (ACC), 2016
    Co-Authors: Halil Ibrahim Basturk
    Abstract:

    In this paper, the control design problem for an active suspension system to maintain the comfort and safety of the vehicle body is considered. The Road Disturbance is modelled as a finite sum of sinusoidal functions with unknown frequencies, amplitudes and phases. The Disturbance is parameterized and an adaptive controller is designed by using the backstepping technique. It is proven that the equilibrium of the closed loop system is stable and the vertical acceleration of the vehicle body tends to zero despite Road Disturbances. The effectiveness of the controller is illustrated with a simulation of a Road test.

  • ACC - A backstepping approach for an active suspension system
    2016 American Control Conference (ACC), 2016
    Co-Authors: Halil Ibrahim Basturk
    Abstract:

    In this paper, the control design problem for an active suspension system to maintain the comfort and safety of the vehicle body is considered. The Road Disturbance is modelled as a finite sum of sinusoidal functions with unknown frequencies, amplitudes and phases. The Disturbance is parameterized and an adaptive controller is designed by using the backstepping technique. It is proven that the equilibrium of the closed loop system is stable and the vertical acceleration of the vehicle body tends to zero despite Road Disturbances. The effectiveness of the controller is illustrated with a simulation of a Road test.

Nong Zhang - One of the best experts on this subject based on the ideXlab platform.

  • Multiobjective Static Output Feedback Control Design for Vehicle Suspensions
    Journal of System Design and Dynamics, 2020
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design multiobjective static output feedback 2 H / ∞ H / 2 GH controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). A quarter-car model with active suspension system is studied in this paper and three main performance requirements for an advanced vehicle suspension are considered. Among these requirements, the ride comfort performance is optimized by minimizing the 2 H norm from the Road Disturbance to the sprung mass acceleration, the Road holding performance is improved by constraining the ∞ H norm from the Road Disturbance to the tyre deflection to be less than a given value, and the suspension deflection is guaranteed to be less than its hard limit by constraining the generalized 2 H norm from the Road Disturbance to the suspension deflection. In addition, the controller gain can be constrained naturally in GAs, which can avoid the actuator saturation problem. A static output feedback controller, which only uses the available sprung velocity and suspension deflection signals as feedback signals, is obtained. This multiobjective controller is realized by using GAs to search for the possible control gain matrix and then to resolve the LMIs together with the minimization optimization problem. The approach is validated by numerical simulation which shows that the designed static output feedback controller can achieve good active suspension performances in spite of its simplicity.

  • Vibration Control of Vehicle Seat Integrating with Chassis Suspension and Driver Body Model
    Advances in Structural Engineering, 2020
    Co-Authors: Hai-ping Du, Weihua Li, Nong Zhang
    Abstract:

    Vehicle seat suspension is one of very important components to provide ride comfort, in particular, commercial vehicles, to reduce driver fatigue due to long hours driving. This paper presents a study on active control of seat suspension to reduce vertical vibration transmitted from uneven Road profile to driver body. The control problem will be firstly studied by proposing an integrated seat suspension model which includes vehicle chassis suspension, seat suspension, and driver body model. This is a new concept in the field of study because most of the current active and semi-active seat suspension studies only consider seat suspension or seat suspension with human body model, and Road Disturbance is generally assumed to be applied to the cabin floor directly. Controller design based an integrated model will enable the seat suspension to perform in a scenario where vibration caused by Road Disturbance is transmitted from wheel to seat frame and ride comfort performance is evaluated in terms of human body...

  • Robust active suspension design subject to vehicle inertial parameter variations
    International Journal of Automation and Computing, 2010
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach in designing a robust controller for vehicle suspensions considering changes in vehicle inertial properties. A four-degree-of-freedom half-car model with active suspension is studied in this paper, and three main performance requirements are considered. Among these requirements, the ride comfort performance is optimized by minimizing the H _∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H _2 ( GH _2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH _2 norm as well. By solving the finite number of linear matrix inequalities (LMIs) with the minimization optimization procedure, the controller gains, which are dependent on the time-varying inertial parameters, can be obtained. Numerical simulations on both frequency and bump responses show that the designed parameter-dependent controller can achieve better active suspension performance compared with the passive suspension in spite of the variations of inertial parameters.

  • designing h gh 2 static output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms
    Vehicle System Dynamics, 2008
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design the H ∞/GH 2 static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H ∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H 2 (GH 2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH 2 norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this pap...

  • Designing H ∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms
    Vehicle System Dynamics, 2008
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design the H ∞/GH 2 static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H ∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H 2 (GH 2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH 2 norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this pap...

S. B. Phadke - One of the best experts on this subject based on the ideXlab platform.

  • Nonlinear Control for Dual Objective Active Suspension Systems
    IEEE Transactions on Intelligent Transportation Systems, 2017
    Co-Authors: Vaijayanti S. Deshpande, Pramod D. Shendge, S. B. Phadke
    Abstract:

    In this paper, an active suspension system employing a new nonlinear control law is proposed to address the problem of achieving the dual objective of providing ride comfort and trying to keep the suspension deflection within the constraint of rattle space. The control is a nonlinear function of the magnitude of the suspension deflection and an estimate of the effect of the Road Disturbance. The control scheme is analyzed and assessed for the large classes of Road profiles through simulation and by experimentation on a laboratory setup. The performance of the proposed scheme is compared with a passive suspension system.

  • Active seat suspension based on second order inertial delay control combined with Sliding Mode Control
    2016 IEEE 1st International Conference on Power Electronics Intelligent Control and Energy Systems (ICPEICES), 2016
    Co-Authors: Mahesh Lathkar, Aditya Tiwari, P.d. Shendge, S. B. Phadke
    Abstract:

    This paper deals with the problem of integrated active seat suspension. The control strategy is based on inertial delay control (IDC) combined with sliding mode control (SMC). The Road Disturbance, reflected through the sprung mass position and velocity and system uncertainties estimated in real time using IDC and compensated using the control. The proposed strategy is evaluated by simulation for two types of Road Disturbances. The results are compared with a passive system.

  • Inertial delay control based sliding mode control for active suspension with full car model
    2016 IEEE First International Conference on Control Measurement and Instrumentation (CMI), 2016
    Co-Authors: Abhijit Bhowmik, Abhishek Marar, Divyesh Ginoya, Shikha Singh, S. B. Phadke
    Abstract:

    This paper deals with reducing the vertical oscillations of the vehicle using active suspension. A full car model is considered with pitch and roll motion dynamics. Sliding mode control is used to control the nominal system matrices while the effect of Disturbances from the Road profile is suppressed through an inertial delay control (IDC) estimation technique. Global asymptotic stability of the controller is proved using Lyapunov criterion. Simulations are carried out in MATLAB/Simulink to evaluate the performance of the controller under parametric uncertainties and external Road Disturbance.

  • VSS - Sliding mode control of active suspension systems using a Disturbance observer
    2012 12th International Workshop on Variable Structure Systems, 2012
    Co-Authors: Vaijayanti S. Deshpande, Mohan Bhaskara, S. B. Phadke
    Abstract:

    In this paper a novel active suspension scheme that combines sliding mode control with a Disturbance observer is proposed for a quarter car model. The Disturbance observer estimates the uncertainties in the system and the unknown Road Disturbance acting on the unsprung mass. Two control strategies to compensate for the uncertainties and the Road Disturbance in order to improve the ride comfort are proposed. The stability of the suspension system and the Disturbance observer is proved. The efficacy of the method is illustrated by simulation for a vehicle suspension system.

  • Sliding mode control of active suspension systems using a Disturbance observer
    2012 12th International Workshop on Variable Structure Systems, 2012
    Co-Authors: Vaijayanti S. Deshpande, Mohan Bhaskara, S. B. Phadke
    Abstract:

    In this paper a novel active suspension scheme that combines sliding mode control with a Disturbance observer is proposed for a quarter car model. The Disturbance observer estimates the uncertainties in the system and the unknown Road Disturbance acting on the unsprung mass. Two control strategies to compensate for the uncertainties and the Road Disturbance in order to improve the ride comfort are proposed. The stability of the suspension system and the Disturbance observer is proved. The efficacy of the method is illustrated by simulation for a vehicle suspension system.

Hai-ping Du - One of the best experts on this subject based on the ideXlab platform.

  • Multiobjective Static Output Feedback Control Design for Vehicle Suspensions
    Journal of System Design and Dynamics, 2020
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design multiobjective static output feedback 2 H / ∞ H / 2 GH controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). A quarter-car model with active suspension system is studied in this paper and three main performance requirements for an advanced vehicle suspension are considered. Among these requirements, the ride comfort performance is optimized by minimizing the 2 H norm from the Road Disturbance to the sprung mass acceleration, the Road holding performance is improved by constraining the ∞ H norm from the Road Disturbance to the tyre deflection to be less than a given value, and the suspension deflection is guaranteed to be less than its hard limit by constraining the generalized 2 H norm from the Road Disturbance to the suspension deflection. In addition, the controller gain can be constrained naturally in GAs, which can avoid the actuator saturation problem. A static output feedback controller, which only uses the available sprung velocity and suspension deflection signals as feedback signals, is obtained. This multiobjective controller is realized by using GAs to search for the possible control gain matrix and then to resolve the LMIs together with the minimization optimization problem. The approach is validated by numerical simulation which shows that the designed static output feedback controller can achieve good active suspension performances in spite of its simplicity.

  • Vibration Control of Vehicle Seat Integrating with Chassis Suspension and Driver Body Model
    Advances in Structural Engineering, 2020
    Co-Authors: Hai-ping Du, Weihua Li, Nong Zhang
    Abstract:

    Vehicle seat suspension is one of very important components to provide ride comfort, in particular, commercial vehicles, to reduce driver fatigue due to long hours driving. This paper presents a study on active control of seat suspension to reduce vertical vibration transmitted from uneven Road profile to driver body. The control problem will be firstly studied by proposing an integrated seat suspension model which includes vehicle chassis suspension, seat suspension, and driver body model. This is a new concept in the field of study because most of the current active and semi-active seat suspension studies only consider seat suspension or seat suspension with human body model, and Road Disturbance is generally assumed to be applied to the cabin floor directly. Controller design based an integrated model will enable the seat suspension to perform in a scenario where vibration caused by Road Disturbance is transmitted from wheel to seat frame and ride comfort performance is evaluated in terms of human body...

  • Robust active suspension design subject to vehicle inertial parameter variations
    International Journal of Automation and Computing, 2010
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach in designing a robust controller for vehicle suspensions considering changes in vehicle inertial properties. A four-degree-of-freedom half-car model with active suspension is studied in this paper, and three main performance requirements are considered. Among these requirements, the ride comfort performance is optimized by minimizing the H _∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H _2 ( GH _2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH _2 norm as well. By solving the finite number of linear matrix inequalities (LMIs) with the minimization optimization procedure, the controller gains, which are dependent on the time-varying inertial parameters, can be obtained. Numerical simulations on both frequency and bump responses show that the designed parameter-dependent controller can achieve better active suspension performance compared with the passive suspension in spite of the variations of inertial parameters.

  • designing h gh 2 static output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms
    Vehicle System Dynamics, 2008
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design the H ∞/GH 2 static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H ∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H 2 (GH 2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH 2 norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this pap...

  • Designing H ∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms
    Vehicle System Dynamics, 2008
    Co-Authors: Hai-ping Du, Nong Zhang
    Abstract:

    This paper presents an approach to design the H ∞/GH 2 static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H ∞ norm of the transfer function from the Road Disturbance to the sprung mass acceleration, while the Road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H 2 (GH 2) norms of the transfer functions from the Road Disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH 2 norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this pap...

Alexey A. Vedyakov - One of the best experts on this subject based on the ideXlab platform.

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