H_∞制御と非線形適応制御機構を有するアクティブサスペンション

抄録

The control technique which combines H_∞ control with adaptive nonlinear control is applied to the active suspension system which is divided into two parts: a main car body part and a hydraulic actuator part. The H_∞ control design is used for the body part where the frequency response property is important to improve the ride quality of the automobiles, and the adaptive nonlinear control design is used for the actuator part with the high nonlinearities and the parametric uncertainties which is required to transmit the power to the main body adequately because it gives large effects on the control result. These two design methods are combined by a modified version of backstepping which is a powerful tool for nonlinear control and adaptive control. Finally some simulation results are provided to confirm the usefulness of our method.