Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization |
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Authors: | Jing Lei Zuo Jiang Ya-Li Li Wu-Xin Li |
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Affiliation: | 1. School of Mathematics and Computer Science, Yunnan Nationalities University, Kunming 650500, China;2. Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USAelizabethia@126.com;4. National Pilot School of Software, Yunnan University, Kunming 650091, China |
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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. |
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Keywords: | nonlinear system actuator delay feedback linearization vibration control quarter-car suspension |
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