Proceedings ArticleDOI
Active suspension using preview information and model predictive control
Raman K. Mehra,Jayesh Amin,K.J. Hedrick,C. Osorio,S. Gopalasamy +4 more
- pp 860-865
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TLDR
Model predictive control (MPC) as discussed by the authors is a design of choice for control of active suspension systems utilizing previewed road information, which generalizes the approaches based on feedback linearization and dynamic inversion from single step control to multiple step control over a receding prediction horizon.Abstract:
The objective of a suspension system is to maximize the passenger ride comfort and vehicle road holding quality. Passive systems present a trade-off between these objectives and the required suspension travel. An appropriate active suspension control overcomes this tradeoff and provides maximum ride comfort and road holding quality within the available suspension travel. In this paper, we show model predictive control (MPC) to be a design of choice for control of active suspension systems utilizing previewed road information. MPC design explicitly incorporates all hard constraints on state, control and output variables. It generalizes the approaches based on feedback linearization and dynamic inversion from single step control to multiple step control over a receding prediction horizon. MPC is shown to provide excellent improvements in the ride and road handling qualities of the vehicle over realistic terrain profiles. MPC works well even in the presence of noise in the previewed information. Implementation of MPC on the UCB active suspension test rig also shows the feasibility of the MPC algorithm in real-time application.read more
Citations
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Proceedings ArticleDOI
The development of Model Predictive Control in automotive industry: A survey
TL;DR: This paper surveys the investigations of MPC in the automotive industry with particular focus on the developments at Ford Motor Company, and presents three applications that have been recently prototyped in fully functional production-like vehicles.
Journal ArticleDOI
Design and Vehicle Implementation of Preview Active Suspension Controllers
TL;DR: Two model predictive approaches for preview active suspension controllers are proposed and compared to the well-known optimal preview control approach.
Proceedings ArticleDOI
Code generation for receding horizon control
TL;DR: This paper demonstrates code generation with two simple control examples, showing a range of problems that may be handled by RHC, and shows a speedup of several hundred times from generic parser-solvers.
Journal ArticleDOI
Improving the vehicle performance with active suspension using road-sensing algorithm
TL;DR: The road-sensing system which can robustly reconstruct the road input profiles from the intermixed data with the vehicle's dynamic motion, is implemented using the composite-sensor system with the optimally shaped transfer function.
Journal ArticleDOI
Driving State Adaptive Control of an Active Vehicle Suspension System
Guido Koch,Tobias Kloiber +1 more
TL;DR: A new adaptive vehicle suspension control method is presented that adjusts the controller parametrization to the current driving state and thereby enables to significantly enhance ride comfort while the dynamic wheel load and the suspension deflection remain within safety critical bounds.
References
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Journal ArticleDOI
Model predictive control: theory and practice—a survey
TL;DR: The flexible constraint handling capabilities of MPC are shown to be a significant advantage in the context of the overall operating objectives of the process industries and the 1-, 2-, and ∞-norm formulations of the performance objective are discussed.
Book
Theory of Ground Vehicles
TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Journal ArticleDOI
Industrial applications of model based predictive control
TL;DR: Two classical applications of MBPC are described which enhance the advantages of the method: feed-forwarding, constraints handling, no-lag error on dynamic set points, easy trade-off between robustness and dynamics specifications.
Journal ArticleDOI
Optimal continuous finite preview problem
TL;DR: It is shown how to utilize the local future information obtained by finite preview to minimize an optimality criterion evaluated over the problem duration, which distinguishes the present problem from the optimal tracking problem.