TY - JOUR

T1 - On some geometric control properties of active suspensions systems

AU - Prattichizzo, D.

AU - Mercorelli, P.

N1 - Cited By (since 1996): 3 Export Date: 22 May 2012 Source: Scopus Language of Original Document: English Correspondence Address: Prattichizzo, D.; Dipto. di Ingegneria D., Università di Siena, via Roma 56, 53100 Siena, Italy; email: prattichizzo@ing.unisi.it References: Barbagli, F., Marro, G., Mercorelli, P., Prattichizzo, D., Some results on output algebraic feedback with applications to mechanical systems (1998) Proc. 37th IEEE Internat. Conference Decision Control, pp. 3545-3550. , Tampa, Florida; Marro, G., Barbagli, F., The algebraic output feedback in the light of dual-lattice structures (1999) Kybernetika, 35, p. 6; Basile, G., Marro, G., (1992) Controlled and Conditioned Invariants in Linear System Theory, , Prentice Hall, Englewood Cliffs, N. J; Basile, G., Marro, G., (1969) L'invarianza Rispetto Ai Disturbi Studiata Nello Spazio Degli Stati, , Rendiconti della LXX Riunione Annuale AEI; Basile, G., Marro, G., A state space approach to non-interacting controls (1970) Ricerche Automat., 1, p. 1; Chen, B.M., Solvability conditions for the disturbance decoupling problems with static measurement feedback (1997) Internat. J. Control, 68, pp. 51-60; Chen, B.M., Mareels, I.M.Y., Zheng, Y.F., Zhang, C., Solutions to disturbance decoupling problem with constant measurement feedback for linear systems (1999) Proc. 38th IEEE Internat. Conference Decision Control, pp. 4062-4067; Hirata, T., Koizumi, S., Takahashi, R., H∞ control of railroad vehicle active suspension (1995) Automatica, 31, p. 1; Hrovat, D., Optimal active suspension structures for quarter-car vehicle models (1990) Automatica, 26, p. 5; Koumboulis, F.N., Tzierakis, K.G., Meeting transfer function requirement via static measurement output feedback (1998) J. Franklin Institute - Engineering and Applied Mathematics, pp. 661-677; Peng, H., Tomizuka, M., Control of front-wheel-steering rubber tire vehicles (1990) Report UCB-ITS-PRR-90-5 of PATH Program, , Institute of Transportation Studies, University of California at Berkley, Berkeley; Prattichizzo, D., Mercorelli, P., Bicchi, A., Vicino, A., Geometric disturbance decoupling control of vehicles with active suspensions (1998) Proc. IEEE Internat. Conference on Control Applications, , Trieste; Prattichizzo, D., Mercorelli, P., Bicchi, A., Vicino, A., Active suspensions decoupling by algebraic feedback (1998) Proc. 6th IEEE Mediterranean Conference on Control and Systems, , Sardinia; Rajamani, R., Hedrick, J.K., Adaptive observers for active automotive suspensions: Theory and experiments (1995) IEEE Trans. Control System Technology, 3, p. 1; Ray, L.R., Nonlinear state and tire force estimation for advanced vehicle control (1995) IEEE Trans. Control System Technology, 3, p. 1; Rosenbrock, H.H., (1970) State-space and Multivariable Theory, , Thomas Nelson and Sons Ltd; Unyelioglu, K.A., Ozguner, U., Winkelman, J., A decomposition method for the design of active suspension controllers (1996) Proc. 13th 1996 IFAC World Congress, , San Francisco; Wonham, W.M., (1979) Linear Multivariable Control: A Geometric Approach, , Springer-Verlag, New York; Wonham, W.M., Morse, A.S., Decoupling and pole assignment in linear multivariable systems: A geometric approach (1970) SIAM J. Control, 8, p. 1

PY - 2000

Y1 - 2000

N2 - The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i. e., roll, pitch and chassis height, from the external disturbances. The paper emphasizes that disturbance decoupling can be thought as a structural property of road vehicles with active suspensions. The framework throughout is the geometric approach to the control of dynamic systems. It is shown that a controlled and conditioned invariant subspace exists such that it allows the geometric disturbance localization. The decoupling problem with stability and the algebraic feedback of suspension heights, i. e. the system measurements, are considered. Simulations with real data are included to validate theoretical results. Saturating actuators are also considered in order to model a more realistic case.

AB - The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i. e., roll, pitch and chassis height, from the external disturbances. The paper emphasizes that disturbance decoupling can be thought as a structural property of road vehicles with active suspensions. The framework throughout is the geometric approach to the control of dynamic systems. It is shown that a controlled and conditioned invariant subspace exists such that it allows the geometric disturbance localization. The decoupling problem with stability and the algebraic feedback of suspension heights, i. e. the system measurements, are considered. Simulations with real data are included to validate theoretical results. Saturating actuators are also considered in order to model a more realistic case.

KW - Engineering

M3 - Journal articles

VL - 36

SP - 549

EP - 570

JO - Kybernetika

JF - Kybernetika

SN - 0023-5954

IS - 5

ER -