Geometric disturbance decoupling control of vehicles with active suspensions

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Authors

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.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Number of pages5
Volume1
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date1998
Pages253-257
ISBN (Print)0-7803-4104-X, 0-7803-4105-8
DOIs
Publication statusPublished - 1998
Externally publishedYes
EventInstitute of Electrical and Electronics Engineers International Conference on Control Applications - 1998 - Centro Congressi Stazione Marittima, Trieste, Italy
Duration: 01.09.199804.09.1998

DOI