Model Predictive Control for active suspensions - controller design and experimental study

Srinivasan Gopalasamy, Carlos Osorio, Karl Hedrick, Rajesh Rajamani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper discusses the design of a Model Predictive Controller for a vehicle active suspension system and presents the experimental results obtained in the evaluation of the controller performance. The Model Predictive Control methodology described here, utilizes the road profile ahead of the vehicle as preview information and also takes into explicit consideration the physical constraints on the suspension travel. The advantages in the use of preview information in active suspension control have been studied by several researchers. The explicit consideration of the physical limits on the suspension travel becomes an important factor under rough road conditions such as the ones encountered by off-road vehicles. A computationally efficient version of the predictive controller was developed so as to be implementable on-line. The experimental evaluation of the controller was performed on the UC Berkeley Active Suspension Test Rig.

Original languageEnglish (US)
Title of host publicationASME Dynamic Systems and Control Division
EditorsW.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
PublisherASME
Pages725-733
Number of pages9
Volume61
StatePublished - Dec 1 1997
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: Nov 16 1997Nov 21 1997

Other

OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA
Period11/16/9711/21/97

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Gopalasamy, S., Osorio, C., Hedrick, K., & Rajamani, R. (1997). Model Predictive Control for active suspensions - controller design and experimental study. In W. S. Chang, A. Gopinath, S. S. Sadhal, E. H. Trinh, C. J. Kim, & A. et al (Eds.), ASME Dynamic Systems and Control Division (Vol. 61, pp. 725-733). ASME.