A Deep Reinforcement Learning-Based Controller for Magnetorheological-Damped Vehicle Suspension

Abstract

This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments utilizing a reinforcement learning algorithm with continuous states/actions. The sensor data is fed into a Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm, which generates the actuation voltage required for the MR damper. The resulting suspension space (displacement), sprung mass acceleration, and dynamic tire load are calculated using a quarter vehicle model incorporating the modified Bouc-Wen MR damper model. Deep RL's reward function is based on sprung mass acceleration. The proposed approach outperforms traditional suspension control strategies regarding ride comfort and stability, as demonstrated by multiple simulated experimentsComment: 19 pages , 9 figures , 5 table