Mechanical analysis and control design of a variable-geometry McPherson suspension

Abstract

This paper proposes the analysis and synthesis of the robust control of a variable-geometry suspension system which is able to enhance the stability of the vehicle. The aim of the system is to assist the driver in performing various manoeuvres by influencing the camber angles of the rear wheels. First, the dynamical force that influences the wheel camber angle and the mechanism of McPherson suspension system are analysed, then a control-oriented model of the tyre and the suspension system is formalised. The control design is based on the robust mixed H