Disturbance attenuation control of active suspension with non-linear actuator dynamics

Abstract

This study suggests an approach to design an active suspension controller with non-linear actuator dynamics, which can achieve good ride comfort while respecting safety constraints such as road holding and limited suspension strokes. The procedure includes two steps: design a state feedback ℋ_∞ controller for the linear subsystem with time-domain constraints, and then apply the backstepping technique to deal with non-linear actuator dynamics and to derive the control law. The closed-loop system achieves a bounded disturbance attenuation level (the l₂ gain), which gives a measure of ride comfort in the case of general road disturbances. Simulation results are provided to show the effectiveness of the designed controller.