Robust Active Roll Controller Design for Vehicles Considering Variable Speed and Actuator Delay

Abstract

A robust controller design method for vehicle roll control with variable speed and actuator delay is presented. Based on a three-degree-of-freedom (3DOF) yaw-roll model, the H performance from the steering input to the vehicle body roll angle is considered. The design approach is formulated in terms of the feasibility of delay-dependent matrix inequalities. By combining the random search of genetic algorithms (GAs) and the efficient solution of linear matrix inequalities (LMIs), the state feedback controllers can be obtained. The approach is validated by simulations showing that the designed controllers can achieve good performance in roll control.

Pid Controller with Roll Moment Rejection for Pneumatically Actuated Active Roll Control (ARC) Suspension System

“…It is well-known that a vehicle tends to roll on its longitudinal axis if the vehicle is subjected to steering wheel input due to the weight transfer from the inside to the outside wheels. Some control strategies for ARC systems have been proposed to cancel out lateral weight transfer using active force control strategy (Hudha et al 2003), hybrid fuzzy-PID (Xinpeng and Duan, 2007), speed dependent gain scheduling control (Darling and RossMartin, 1997), roll angle and roll moment control (Miege and Cebon, 2002), state feedback controller optimized with genetic algorithm (Du and Dong, 2007) and the combination of yaw rate and side slip angle feedback control (Sorniotti and D'Alfio, 2007).…”