An MPC-LQR-LPV Controller with Quadratic Stability Conditions for a Nonlinear Half-Car Active Suspension System with Electro-Hydraulic Actuators
Daniel Rodriguez-Guevara, Antonio Favela‐Contreras, Francisco Beltrán-Carbajal, Carlos Sotelo, David Sotelo
Abstract
The active suspension system of a vehicle manipulated using electro-hydraulic actuators is a challenging nonlinear control problem. In this research work, a novel Linear Parameter Varying (LPV) State-Space (SS) model with a fictional input is proposed to represent a nonlinear half-car active suspension system. Four different scheduling parameters are used to embed the nonlinearities of both the suspension and the electro hydraulic actuators to represent its nonlinear behavior. A recursive least squares (RLS) algorithm is used to predict the future behavior of the scheduling parameters along the prediction horizon. A Model Predictive Control-Linear Quadratic Regulator (MPC-LQR) is implemented as the control strategy and, to ensure stability, Quadratic Stability conditions are imposed as Linear Matrix Inequalities (LMI) constraints. Furthermore, the inclusion of attraction sets to overcome the conservative performance imposed by the Quadratic Stability conditions is included, as well as a terminal set were the switching between the MPC and the LQR controller is made. Simulations results for the half-car active suspension model over a typical road disturbance are tested to show the effectiveness of the proposed MPC-LQR-LPV controller with quadratic stability conditions in terms of comfort and road-holding.