Robust controller implementation via state-derivative feedback in an active suspension system subjected to fault

Silva, Emerson Ravazzi Pires da; Assunção, Edvaldo; Teixeira, Marcelo Carvalho Minhoto; Cardim, Rodrigo

doi:10.1109/systol.2013.6693904

Cited by 18 publications

(20 citation statements)

References 18 publications

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“…The testbed supports all three control schemes. When passive mode is selected, both the the spring and damper rates are 10 Copyright © 2017 ASME fixed. The system can control the damper in a way that emulates a linear damper.…”

Section: Control Interfacementioning

confidence: 99%

“…A sample of these systems include a control system testbed for critical infrastructure protection systems [6], a bipedal robot specifically designed to test a variety of control algorithms for stable-legged locomotion [7], and a platform for testing controls on a small cubesat-scaled satellite system [8]. Moreover, testbeds specifically designed for vehicular suspensions are also reported in the literature [9][10][11]. The main objective of these testbeds is to evaluate the performance-using metrics such as road handling or passenger comfort-for different control algorithms.…”

mentioning

confidence: 99%

“…A robust controller test rig is described in Ref. [10] for a 2-D linear suspension system. A suspension testbed for evaluating nonlinear sliding mode controllers is described in Ref.…”

mentioning

confidence: 99%

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Design of a Reconfigurable Dynamic Testbed for Co-Design Method Validation

Deshmukh

Lohan

Allison

2017

Volume 2A: 43rd Design Automation Conference

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Physical testing as a technique for validation of engineering design methods can be a valuable source of insights not available through simulation alone. Physical testing also helps to ensure that design methods are suitable for design problems with a practical level of detail, and can reveal issues related to interactions not captured by physics-based computer models. Construction of physical and testing of physical prototypes, however, is costly and time consuming so it is not often used when investigating new design methods for complex systems. This gap is addressed through an innovative testbed presented here that can be reconfigured to achieve a range of different prototype design properties, including kinematic behavior and different control system architectures. Thus, a single testbed can be used for validation of numerous design geometries and control system architectures. The testbed presented here is a mechanically and electronically reconfigurable quarter-car suspension testbed with nonlinear elements that is capable of testing a wide range of both optimal and sub-optimal design prototypes using a single piece of equipment. Kinematic suspension properties can be changed in an automated way to reflect different suspension linkage designs, spring and damper properties can be adjusted in real time, and control system design can be changed easily through streamlined software modifications. While the specific case study is focused on development of a reconfigurable system for validation of codesign methods, the concept extends to physical validation using reconfigurable systems for other classes of design methods.

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Section: Control Interfacementioning

confidence: 99%

mentioning

confidence: 99%

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Design of a Reconfigurable Dynamic Testbed for Co-Design Method Validation

Deshmukh

Lohan

Allison

2017

Volume 2A: 43rd Design Automation Conference

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“…There are three different active vehicle suspensions models found in the literature. These are entire vehicle suspension models [1,7], half car models [3,4], and quarter car models [2,5,6,26].…”

Section: Application To Active Suspension Systemmentioning

confidence: 99%

“…Such scheme is shown in Figure 3 control minimizes the quadratic performance index = ∫ ∞ 0 ( ) ( ) + ( ) ( )d in continuous-time [19] or = ∑ ∞ 0 ( ) ( )+V( ) V( ) in discrete-time [28] and has as design matrices = diag([450 30 5 0.01]) and = 0.01. Several other methods considered robust could be applied [1,2,7,26].…”

Section: Application Of the Proposed Control To Active Suspension Witmentioning

confidence: 99%

Sliding Mode Control for Active Suspension System with Data Acquisition Delay

Alves

Garcia

Teixeira

et al. 2014

Mathematical Problems in Engineering

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This paper addresses the problem of control of an active suspension system accomplished using a computer. Delay in the states due to the acquisition and transmission of data from sensors to the controller is taken into account. The proposed control strategy uses state predictors along with sliding mode control technique. Two approaches are made: a continuous-time and a discrete-time control. The proposed designs, continuous-time and discrete-time, are applied to the active suspension module simulator from Quanser. Results from computer simulations and experimental tests are analyzed to show the effectiveness of the proposed control strategy.

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