Control design of anti-roll bar actuator based on constrained LQ method

Abstract

The paper proposes the modeling and control design of an active anti-roll bar actuator. The vehicle dynamic system improves the roll stability of a light commercial vehicle generating an active torque on the chassis, provided by an electro-hydraulic actuator. The actuator control system must guarantee the generation of the required active torque, satisfying the input limits of the actuator. The actuation of electro-hydraulic system is described by fluid dynamical, electrical and mechanical equations. The input of the formulated state-space actuator model is the valve current, while the output is the generated active torque. The tracking controller of the actuator is designed based on constrained Linear Quadratic (LQ) method. The designed controller guarantees the tracking performance and the avoidance of constraint violation simultaneously. The operation of the designed control system is illustrated through simulation examples.