L2 gain state derivative feedback control of uncertain vehicle suspension systems

Abstract

This paper is concerned with the design of a robust L-2 gain state derivative feedback controller for an active suspension system. An uncertain quarter vehicle model is used to analyze vehicle suspension performance. Parametric uncertainty is assumed to exist in sprung mass, tire stiffness and suspension damping coefficients. Polytopic type state space representation is used to enable robust controller design via a linear matrix inequalities (LMIs) framework. Then nominal and robust L-2 gain state derivative feedback controllers having bounded controller gains and robust L-2 gain state feedback controllers are tested against ISO2631 random road disturbances with different road grades and vehicle horizontal velocities. Simulation results show that the proposed robust L-2 gain state derivative feedback controller is very effective in improving ride comfort without deterioration on road holding ability.