Active Suspension Control Using an MPC-LQR-LPV Controller with Attraction Sets and Quadratic Stability Conditions
Daniel Rodriguez-Guevara,
Antonio Favela-Contreras,
Francisco Beltran-Carbajal,
David Sotelo,
Carlos Sotelo
Affiliations
Daniel Rodriguez-Guevara
Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico
Antonio Favela-Contreras
Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico
Francisco Beltran-Carbajal
Departamento de Energía, Universidad Autónoma Metropolitana, Unidad Azcapotzalco, Av. San Pablo No. 180, Col. Reynosa Tamaulipas, Mexico City 02200, Mexico
David Sotelo
Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico
Carlos Sotelo
Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico
The control of an automotive suspension system by means of a hydraulic actuator is a complex nonlinear control problem. In this work, a linear parameter varying (LPV) model is proposed to reduce the complexity of the system while preserving the nonlinear behavior. In terms of control, a dual controller consisting of a model predictive control (MPC) and a Linear Quadratic Regulator (LQR) is implemented. To ensure stability, quadratic stability conditions are imposed in terms of Linear Matrix Inequalities (LMI). Simulation results for quarter-car model over several disturbances are tested in both frequency and time domain to show the effectiveness of the proposed algorithm.
