l1 State Feedback Control of Active Suspension

Abstract

In this paper, a disturbance rejection problem of an automotive active suspension is formulated as an l1control problem, i.e., minimization of the effects of disturbances in terms of the l∞-induced norm. Since l1control theory minimizes the maximum possible amplification of signal magnitude, l1controller can specify the maximum magnitude of outputs in the time domain, regardless of the frequency of road disturbances. Shamma’s l1near-optimal control theory is applied with a certain approximation. To design a simple static full state feedback controller, a nonlinear controller is designed for a linear active suspension model of a quarter vehicle. Finally, satisfactory performances are confirmed by numerical analysis. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.