Active Suspension Control Using an MPC-LQR-LPV Controller with Attraction Sets and Quadratic Stability Conditions

Abstract

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.

Keywords

• active suspension
• model predictive control
• linear parameter varying
• ellipsoidal set
• attraction sets
• quadratic stability