Time delay compensation control using a Taylor series compound robust scheme for a semi‐active suspension with magneto rheological damper
Juncheng Wang, Linfeng Lv, Jie‐Yu Ren, Shi‐An Chen
Abstract
Abstract Time delay significantly degrades the control performances of semi‐active magneto rheological damper. However, the robust control approaches combined with the Taylor series are difficult to perform time delay compensation because it has strict application conditions. In this study, two Taylor series compound robust control schemes are presented to address the robust control and time delay compensation problems for the semi‐active magneto rheological damper with time delay. The formulation of a quarter vehicle model with a magneto rheological damper is described by a hyperbolic tangent model. Given the mechanical characteristics, an experimental test was conducted to fit the hyperbolic tangent model parameters. As a prototype, the Taylor series‐H 2 /H ∞ control approach is proposed through establishing a first‐order Taylor series‐delay equation in augmented state equation and using the H 2 /H ∞ norms to constrain the predictive control force. Moreover, the Taylor series‐H 2 /H 2 controller is proposed to reduce the conservatism and suppress the predictive control force amplification. Simulation results corroborate the efficacy of both control strategies. Specifically, compared with the Taylor series‐H 2 /H ∞ control, the Taylor series‐H 2 /H 2 control can obtain a better control effect for time delay compensation.