A clipped-optimal control algorithm for semi-active vehicle suspensions: Theory and experimental evaluation

Panos Brezas ^[1] ; Malcolm C. Smith ^[1] ; Will Hoult ^[2]
1. [1] University of Cambridge
  
  University of Cambridge
  
  Cambridge District, Reino Unido
2. [2] McLaren Automotive Ltd., Woking, Surrey, UK
Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 53, 2015, págs. 188-194
Idioma: inglés
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  This paper addresses the problem of optimal control for semi-active vehicle suspensions. A specific goal is to develop an algorithm which is capable of optimising ride and handling behaviour simultaneously in an experimental situation. A time-domain optimal control approach is adopted in which ride and handling are modelled as exogenous disturbances acting on the vehicle: road disturbances (modelled stochastically), and driver inputs (treated as deterministic quasi-static disturbances). A control algorithm is derived from a solution of the stochastic Hamilton–Jacobi–Bellman equation for the finite horizon case. The advantages of the approach are demonstrated experimentally on a test vehicle performing a steering manoeuvre on a bumpy roundabout.