A Robust Control for a Controllable Suspension System with an Input Time Delay

Abstract

In this study, a state feedback robust control strategy with time delay dependence for the uncertainty, fault, and input time delay of a vehicle’s controllable suspension system is designed. Firstly, based on the working principle of the adjustable damping suspension system, the total damping force of the suspension is divided into “foundation damping force” and “controllable damping force”, taking the adjustable damping interval as the constraint boundary, which varies with the actuating velocity. Furthermore, based on the sensitivity analysis of the input time delay’s relationship with damping force disturbance, it exerts influence on the controllable damping force part. The associated uncertainty and fault are defined through linear fraction transformation and proportional gain, respectively, and the two are decoupled from the control mechanism. Then, based on the Lyapunov stability theory, a robust control law for the time-delay-dependent H∞ state feedback is designed and transformed into a linear matrix inequality convex optimization problem to solve. Finally, the feasibility and effectiveness of the proposed method are verified by designing different combinations of uncertainty and fault tests and by comparing and analyzing these with the time-delay-independent H2/H∞ robust control strategy under random and pulse road excitation.