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Active Suspension Control Using an MPC-LQR-LPV Controller with Attraction Sets and Quadratic Stability Conditions

Author

Listed:
  • Daniel Rodriguez-Guevara

    (Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico)

  • Antonio Favela-Contreras

    (Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico)

  • Francisco Beltran-Carbajal

    (Departamento de Energía, Universidad Autónoma Metropolitana, Unidad Azcapotzalco, Av. San Pablo No. 180, Col. Reynosa Tamaulipas, Mexico City 02200, Mexico)

  • David Sotelo

    (Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico)

  • Carlos Sotelo

    (Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Mexico)

Abstract

The control of an automotive suspension system by means of a hydraulic actuator is a complex nonlinear control problem. In this work, a linear parameter varying (LPV) model is proposed to reduce the complexity of the system while preserving the nonlinear behavior. In terms of control, a dual controller consisting of a model predictive control (MPC) and a Linear Quadratic Regulator (LQR) is implemented. To ensure stability, quadratic stability conditions are imposed in terms of Linear Matrix Inequalities (LMI). Simulation results for quarter-car model over several disturbances are tested in both frequency and time domain to show the effectiveness of the proposed algorithm.

Suggested Citation

  • Daniel Rodriguez-Guevara & Antonio Favela-Contreras & Francisco Beltran-Carbajal & David Sotelo & Carlos Sotelo, 2021. "Active Suspension Control Using an MPC-LQR-LPV Controller with Attraction Sets and Quadratic Stability Conditions," Mathematics, MDPI, vol. 9(20), pages 1-17, October.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:20:p:2533-:d:652351
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    References listed on IDEAS

    as
    1. Zhang Longge & Yan Yan, 2017. "Robust shrinking ellipsoid model predictive control for linear parameter varying system," PLOS ONE, Public Library of Science, vol. 12(6), pages 1-13, June.
    2. Jialing Yao & Meng Wang & Zhihong Li & Yunyi Jia, 2021. "Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension," Energies, MDPI, vol. 14(3), pages 1-18, January.
    Full references (including those not matched with items on IDEAS)

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    Cited by:

    1. Alejandro Bustos & Jesus Meneses & Higinio Rubio & Enrique Soriano-Heras, 2022. "Predictive Suspension Algorithm for Land Vehicles over Deterministic Topography," Mathematics, MDPI, vol. 10(9), pages 1-20, April.

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