Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization

Abstract

The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.

Keywords:

• nonlinear system
• actuator delay
• feedback linearization
• vibration control
• quarter-car suspension

Acknowledgements

My deepest gratitude goes first and foremost to Professor Hassan K. Khalil, my current supervisor, whom I have always admired most since university, not only for his erudition, insight, and dedication, but also for his confidence, patience, and honesty. Furthermore, I would like to express my heartfelt gratitude to Ms Pauline Vandyke and Ms Laurie Rashid, who gave me enthusiastic helps on my study and life. Moreover, I would like to thank the editors and the reviewers for their careful and patient reviews and constructive suggestions improving the presentation of this paper, and also sincerely appreciate the resources, working space, and hospitalities of Michigan State University.

Additional information

Funding

This work was partially supported by the National Natural Science Foundation of China [grant number 61364012]; the China Scholarship Council Foundation [grant number 201208535084]; the Natural Science Foundation of Yunnan Province [2011FZ169]; the Key Program of the Scientific Research Foundation of the Education Department of Yunnan Province [grant number 2013Z034].