TY - CHAP

T1 - Geometric disturbance decoupling control of vehicles with active suspensions

AU - Prattichizzo, D.

AU - Mercorelli, P.

AU - Bicchi, A.

AU - Vicino, Antonio

N1 - Conference code: 49877 Cited By (since 1996): 1 Export Date: 22 May 2012 Source: Scopus CODEN: ICOAE Language of Original Document: English Correspondence Address: Prattichizzo, D.; Universita di Siena, Siena, Italy Sponsors: IEEE

PY - 1998

Y1 - 1998

N2 - In this paper the problem of localizing disturbances of a vehicle with active suspensions is investigated. We focus on the regulation of the chassis posture in spite of unaccessible disturbances. The regulated variables, i.e. the roll and pitch angles and the chassis heights, can be disturbance decoupled by state feedback. The decoupling problem is analyzed from a geometric control point of view. The geometric aspects of the vehicle dynamics are emphasized and it is shown that disturbance localization is a structural property of vehicles with active suspensions. On the implementation side, we show that, if suspensions heights along with their derivatives are available as measured outputs, disturbance localization can be gained by a static output feedback.

AB - In this paper the problem of localizing disturbances of a vehicle with active suspensions is investigated. We focus on the regulation of the chassis posture in spite of unaccessible disturbances. The regulated variables, i.e. the roll and pitch angles and the chassis heights, can be disturbance decoupled by state feedback. The decoupling problem is analyzed from a geometric control point of view. The geometric aspects of the vehicle dynamics are emphasized and it is shown that disturbance localization is a structural property of vehicles with active suspensions. On the implementation side, we show that, if suspensions heights along with their derivatives are available as measured outputs, disturbance localization can be gained by a static output feedback.

KW - Engineering

U2 - 10.1109/CCA.1998.728386

DO - 10.1109/CCA.1998.728386

M3 - Article in conference proceedings

SN - 0-7803-4104-X

SN - 0-7803-4105-8

VL - 1

SP - 253

EP - 257

BT - Proceedings of the IEEE International Conference on Control Applications

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - Institute of Electrical and Electronics Engineers International Conference on Control Applications - 1998

Y2 - 1 September 1998 through 4 September 1998

ER -