Output-Feedback-Based $H_{\infty}$ Control for Vehicle Suspension Systems With Control Delay

Li, Hongyi; Jing, Xingjian; Karimi, Hamid Reza

doi:10.1109/tie.2013.2242418

Cited by 482 publications

(288 citation statements)

References 29 publications

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“…Observer-based output feedback control were synthesized in Zha et al 31 and Jo et al 32 for a class of feedforward nonlinear systems with time-varying delay in the control input. And in Li et al, 33 an output feedback H ∞ control was proposed for vehicle suspension systems with known time-varying actuator delay. However, controllers in Zha et al, 31 Jo et al, 32 and Li et al 33 are not applicable for the nonlinear systems considered in this paper that contains additive bounded disturbances in the control input channel.…”

Section: Introductionmentioning

confidence: 99%

“…And in Li et al, 33 an output feedback H ∞ control was proposed for vehicle suspension systems with known time-varying actuator delay. However, controllers in Zha et al, 31 Jo et al, 32 and Li et al 33 are not applicable for the nonlinear systems considered in this paper that contains additive bounded disturbances in the control input channel. Dinh et al 34 presented an output feedback control scheme for a second-order time-varying input-delayed nonlinear systems by using a dynamic neural network-based observer to estimate the unmeasurable states and a predictor-like feedback term to compensate for the input delay.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

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SummaryThis paper addresses the output feedback tracking control of a class of multipleinput and multiple-output nonlinear systems subject to time-varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory-based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time-varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady-state tracking accuracy in spite of the presence of time-varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a LyapunovKrasovskii functional. A specific study on a 2-link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. | INTRODUCTIONTime delay that includes state delay and input delay is a pervasive phenomenon encountered in many practical engineering applications such as robotic systems, electrical networks, and hydraulic actuation systems. The existence of time delay may result in unexpected degradation in control performance and even instability. 1 Hence, how to effectively attenuate the effect of time delay has always been the research hotspot during the latest several decades, with numerous control schemes proposed, such as previous studies 2-12 for input delay and other studies [13][14][15][16][17][18] for state delay. Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay. The core design in these predictor-based approaches is to transform the delayed system to a delay free one by using finite integrals over past control values. 21 In addition, many predictive controllers have also been synthesized based on the fact that the input delayed systems can be modeled as

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

View full text Add to dashboard Cite

show abstract

“…In order to analyze the frequency response of a semi-active suspension with time delay uncertainties, a Fourier transformation is conducted on Equation (1), and then, transfer functions of the vehicle body acceleration a z and the tire dynamic load t l corresponding to the road excitation are to be obtained, as shown in Equation (11).…”

Section: Frequency Response Analysis Of Semi-active Suspension With Tmentioning

confidence: 99%

“…Many semi-active suspension control methods have been proposed to manage the tradeoff between conflicting performances, which means a minimization of suspension deflection cannot be accomplished simultaneously with the maximization of ride comfort [9,29,30]. These control techniques includes fuzzy logic control [7,14], fuzzy self-adaptive PI-Smith control [22], adaptive control [18], H ∞ control [11,31], and sliding mode control [13].…”

Section: Introductionmentioning

confidence: 99%

Stability analysis and fuzzy smith compensation control for semi-active suspension systems with time delay

Pang

Liu

2015

IFS

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Abstract. This paper investigates the problem of stability analysis and fuzzy-smith compensation control for semi-active suspension systems with time delay. The dynamic system of the suspension system with time delay is first formulated in terms of control objectives, such as ride comfort, road handling, and suspension deflection. By using the Lyapunov stability analysis, the necessary and sufficient condition of the critical time delay for the semi-active suspension is derived, and the numerical computation method of solving the asymptotic stability area for this suspension system is presented. Then, our work focuses on designing a Fuzzy-Smith predictive controller to satisfy suspension performance requirements. The control law adopted here is based on the smith predictive control principle, which ensures the control accuracy and stability of a time-delay suspension system. In order to overcome the challenging issues of the model uncertainties of input time delay, a Fuzzy-Smith predictive controller with time delay is established for the semi-active suspension. Furthermore, simulation and test results for the semi-active suspension are provided to demonstrate the effectiveness and feasibility of the proposed method.

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“…Recently, a Lyapunov function based on a switching fuzzy controller has attracted much attention in the field of control systems, and has become a popular research focus [8,22]. It has also become popular to use the fuzzy self-adaptive guidance law (FSG) to estimate target acceleration during the guidance process.…”

Section: Introductionmentioning

confidence: 99%

Intelligent guidance method based on differential geometric guidance command and fuzzy self-adaptive guidance law

Zhang

Long

2015

IFS

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Abstract. Differential geometric guidance command (DGGC) is widely acknowledged as a better method of endoatmospheric interception than three-dimensional (3D) pure proportional navigation (PPN). DGGC can be regarded as an intelligent method due to its sophisticated sense of Lyapunov. However, traditional DGGC cannot guarantee line of sight (LOS) finite time convergence (FTC) to zero against maneuvering targets, particularly in regard to a stable, robust trajectory, which effectively lowers the overall intelligence of the method. This study proposes employment of the fuzzy self-adaptive guidance law to estimate target acceleration and enhance guidance intelligence, which in turn enhances the intelligence of the traditional DGGC method, making it more adaptive and applicable to practical interception scenarios. Finally, the effectiveness of this newly-proposed guidance method is demonstrated by numerical simulation.

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Output-Feedback-Based $H_{\infty}$ Control for Vehicle Suspension Systems With Control Delay

Cited by 482 publications

References 29 publications

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Stability analysis and fuzzy smith compensation control for semi-active suspension systems with time delay

Intelligent guidance method based on differential geometric guidance command and fuzzy self-adaptive guidance law

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