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| Robust control for discrete active suspension with time delay and parameter uncertainty |
| Received:November 04, 2020 Revised:February 18, 2023 |
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| DOI：10.7511/jslx20201104002 |
| KeyWord:active suspension robust controller time delay uncertainty discrete system |
| Author | Institution |
| 高小林 |
江西科技学院 协同创新中心, 南昌 |
| 曹青松 |
江西科技学院 智能工程学院, 南昌 |
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| Abstract: |
| In order to solve the control problem of transmission delay and parameter uncertainty in active suspension,a parameter uncertain robust controller with delay was designed.Firstly,the state space equation of the uncertain active suspension with delay was derived by using linear fractional transformation method,and the discrete system model of active suspension system was established by using zero-order retainer value processing and bilinear transformation.Secondly,the vertical acceleration was taken as the optimal output target of the vehicle suspension system,and the Lyapunov functional method was adopted to derive sufficient conditions for the robust controller to make the system asymptotically stable,and the feedback control law satisfying the optimal H∞ performance index constraint was obtained.Then the controller parameters were obtained by solving linear matrix inequality.Finally,numerical simulation results show that compared with the controller with time delay only,the parametric uncertain robust controller with time delay has better control performance(including robustness),and is less affected by the coupling between sampling period and uncertain parameters. |
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