Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Design and application of a static H_∞ control for an active suspension system
Submission Author:
Diego Alves da Mata , MG
Co-Authors:
Diego Alves da Mata, Marina dos Santos Coimbra, Renan Lima Pereira
Presenter: Diego Alves da Mata
doi://10.26678/ABCM.COBEM2017.COB17-1910
Abstract
In this paper, a static H_∞ loop shaping controller design based on Linear Matrix Inequalities (LMIs) applied to an active suspension system is provided. Sufficient LMIs conditions for continuous-time system are used in order to obtain a static H_∞ loop shaping controller that ensures the robust stability and performance of the closed-loop system. The procedure has two step. First, the open-loop plant is shaped by pre (W_1) and post-compensators (W_2) to give a desired shape to the singular values of the open-loop frequency response. In the second step, the H_∞ controller K is then calculated in order to satisfy the performance index. Differently from other works in the literature, the robust control formulation adopted in this study assumes that the active suspension system is subject to nonparametric uncertainties described by left coprime factorization and that the stabilizing controller is designed to maximize a measure of robustness, represented by an admissible upper bound. After finding the static H_∞ loop shaping controller experiments were performed on the active suspension system. The masses were varied and the results compared with the responses in open-loop. The experimental results showed that the H_∞ loop shaping controller designed may be an advantageous alternative for the control of mechanical systems.
Keywords
static H∞ loop shaping controller, LMI, Active suspension system
