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Nonlinear control of semi-active suspension systems: A Quasi-Linear Control approach

This paper treats the control design for semi-active suspension systems using the recently-developed theory of Quasi-Linear Control (QLC). The use of QLC facilitates handling actuator constraints in semi-active suspensions and the design of nonlinear output feedback laws. Our approach consists of three steps. First, a semi-active suspension control law is defined as a polynomial function of the velocity difference between the sprung and unsprung masses. Then, QLC is employed to stochastically linearize the polynomial function within the closed-loop system. Finally, using the linearized system, a constrained optimization problem is formulated and solved to generate the coefficients of the polynomial function. This approach leads to a nonlinear feedback control law, which explicitly takes into account the actuator constraints. Numerical examples are presented to demonstrate the efficacy of this approach as compared with clipped linear quadratic Gaussian control, which is an existing approach used in the literature.