On some geometric control properties of active suspensions systems

Domenico Prattichizzo; Paolo Mercorelli

Kybernetika (2000)

  • Volume: 36, Issue: 5, page [549]-570
  • ISSN: 0023-5954

Abstract

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The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i. e., roll, pitch and chassis height, from the external disturbances. The paper emphasizes that disturbance decoupling can be thought as a structural property of road vehicles with active suspensions. The framework throughout is the geometric approach to the control of dynamic systems. It is shown that a controlled and conditioned invariant subspace exists such that it allows the geometric disturbance localization. The decoupling problem with stability and the algebraic feedback of suspension heights, i. e. the system measurements, are considered. Simulations with real data are included to validate theoretical results. Saturating actuators are also considered in order to model a more realistic case.

How to cite

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Prattichizzo, Domenico, and Mercorelli, Paolo. "On some geometric control properties of active suspensions systems." Kybernetika 36.5 (2000): [549]-570. <http://eudml.org/doc/33502>.

@article{Prattichizzo2000,
abstract = {The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i. e., roll, pitch and chassis height, from the external disturbances. The paper emphasizes that disturbance decoupling can be thought as a structural property of road vehicles with active suspensions. The framework throughout is the geometric approach to the control of dynamic systems. It is shown that a controlled and conditioned invariant subspace exists such that it allows the geometric disturbance localization. The decoupling problem with stability and the algebraic feedback of suspension heights, i. e. the system measurements, are considered. Simulations with real data are included to validate theoretical results. Saturating actuators are also considered in order to model a more realistic case.},
author = {Prattichizzo, Domenico, Mercorelli, Paolo},
journal = {Kybernetika},
keywords = {decoupling control law; geometric control of dynamic systems; decoupling control law; geometric control of dynamic systems},
language = {eng},
number = {5},
pages = {[549]-570},
publisher = {Institute of Information Theory and Automation AS CR},
title = {On some geometric control properties of active suspensions systems},
url = {http://eudml.org/doc/33502},
volume = {36},
year = {2000},
}

TY - JOUR
AU - Prattichizzo, Domenico
AU - Mercorelli, Paolo
TI - On some geometric control properties of active suspensions systems
JO - Kybernetika
PY - 2000
PB - Institute of Information Theory and Automation AS CR
VL - 36
IS - 5
SP - [549]
EP - 570
AB - The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i. e., roll, pitch and chassis height, from the external disturbances. The paper emphasizes that disturbance decoupling can be thought as a structural property of road vehicles with active suspensions. The framework throughout is the geometric approach to the control of dynamic systems. It is shown that a controlled and conditioned invariant subspace exists such that it allows the geometric disturbance localization. The decoupling problem with stability and the algebraic feedback of suspension heights, i. e. the system measurements, are considered. Simulations with real data are included to validate theoretical results. Saturating actuators are also considered in order to model a more realistic case.
LA - eng
KW - decoupling control law; geometric control of dynamic systems; decoupling control law; geometric control of dynamic systems
UR - http://eudml.org/doc/33502
ER -

References

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Citations in EuDML Documents

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  1. Paolo Mercorelli, Domenico Prattichizzo, A geometric procedure for robust decoupling control of contact forces in robotic manipulation
  2. Paolo Mercorelli, Robust decoupling through algebraic output feedback in manipulation systems
  3. Paolo Mercorelli, A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
  4. Paolo Mercorelli, Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation

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