An H∞ observer for the Semi-Active (SA) force of an Electro-Rheological (ER) damper in a Quarter of Vehicle (QoV) model is proposed. This robust observer is designed in the H∞ framework to minimize the effect of the unknown road disturbance on the force estimation and includes the damper nonlinearities and its dynamic behavior. Simulation and experimental rig tests results using a 1/5 scale car using easily accessible measurements for the observer, such as acceleration sensors, which are relatively cheap and easy to implement in a real environment. The estimated damper force could be used in a state feedback control strategy to improve comfort and road holding performance of a vehicle with a reduced number of sensors.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Vela, A. E., Alcántara, D. H., Menendez, R. M., Sename, O., & Dugard, L. (2018). H∞Observer for Damper Force in a Semi-Active Suspension. IFAC Proceedings Volumes (IFAC-PapersOnline), 51(11), 764-769. https://doi.org/10.1016/j.ifacol.2018.08.411