'Institute of Electrical and Electronics Engineers (IEEE)'
Abstract
An active suspension control system design for a tractor-semitrailer transport vehicle is discussed. The design aims at optimality of the \Htwo-norm of
the generalized plant for a large range of semitrailer load conditions. Model parameters are taken from a real vehicle. Specifications for the disturbance input signal accounts for a stochastic road disturbance, but the design verification also considers a class of deterministic ones. To-be-controlled signal specifications,
related to driver and cargo comfort, limitations of the suspension, driving safety, and road damage, are translated in weighting transfer functions and incorporated in the generalized plant. A design for a single load condition is not satisfactory.
Two different approaches to assure robustness are followed:
(1) a simultaneous \Htwo optimal design for two plants, representing two extreme load conditions,
(2) adding an \Hinf, or better μ, stability constraint.
Both designs show acceptable closed loop behavior. To compute controllers,
use is made of a Multiobjective Control Design and a Linear Matrix Inequalities toolbox