<italic>H₂</italic> control of a one-quarter semi-active ground vehicle suspension

Abstract

Magneto-rheological (MR) dampers are effective solutions in improving vehicle stability and passenger comfort. However, handling these dampers implies a strong effort in modeling and control. This research proposes an H₂ controller, based on a Takagi–Sugeno (T–S) fuzzy model, for a two-degrees-of-freedom (2-DOF) one-quarter vehicle semi-active suspension with an MR damper; a system with important applications in automotive industry. Regarding performance criteria (in frequency domain) handled herein, the developed controller considerably improves the passive suspension’s efficiency. Moreover, nonlinear actuator dynamics usually avoided in reported work, is included in controller’s synthesis; improving the relevance of research outcomes because the controller is synthesized from a closer-to-reality suspension model. Going further, outcomes of this research are compared (based on frequency domain performance criteria and a common time domain test) with reported work to highlight the outstanding results. H₂ controller is given in terms of quadratic Lyapunov stability theory and carried out by means of Linear Matrix Inequalities (LMI), and the command signal is applied via the Parallel Distributed Compensation (PDC) approach. A case of study, with real data, is developed and simulation work supports the results. The methodology applied herein can be extended to include other vehicle suspension’s dynamics towards a general chassis control.