Robust Full-Car Active Suspension System

Abstract

In this paper, a robust full-car active suspension system is designed. All parameters involved, except those related to the chassis of the car, are considered uncertain and the center of gravity position is assumed to be fixed. The resulting uncertain system constitutes of many uncertain parameters and the robust problem is found to be non-convex. Particle Swarm Optimization technique is devised to solve this problem resulting in an iterative PSO/LMI optimization algorithm. SimMechanics is used to build the nonlinear full-car model and to allow future extensions such that complex cases can be considered, i.e., the passengers, goods, or the like might be uncertain or having their own dynamics onboard.