In this paper a new control approach for active vehicle suspensions based on a modified optimal control problem is presented, which considers the nonlinear damper characteristic of a vehicle suspension setup. In this context a new method for the systematic construction of a control Lyapunov function is presented, that is applicable to a class of nonlinear systems. The states that are required by the controller are estimated from the available measurement signals using a nonlinear Kalman filter concept recently presented by the authors. In order to achieve the best possible performance with respect to the conflicting objectives passenger comfort, ride safety and suspension deflection, the controller parameters are determined by means of a multiobjective genetic optimization algorithm. The potential of the controller is demonstrated by comparing it to a conventional linear quadratic regulator. The concept is validated on a quarter-vehicle test rig using measurements of real road profiles as disturbance input.
['Tobias Kloiber', 'Guido Koch', 'Boris Lohmann']
Modified optimal control of a nonlinear active suspension system