H ∞ Observer for Damper Force in a Semi-Active Suspension

Abstract : An H ∞ observer for the Semi-Active (SA) force of an Electro-Rheological (ER) damper in a Quarter of Vehicle (QoV) model is proposed. This robust observer is designed in the H ∞ framework to minimize the effect of the unknown road disturbance on the force estimation and includes the damper nonlinearities and its dynamic behavior. Simulation and experimental rig tests results using a 1/5 scale car using easily accessible measurements for the observer, such as acceleration sensors, which are relatively cheap and easy to implement in a real environment. The estimated damper force could be used in a state feedback control strategy to improve comfort and road holding performance of a vehicle with a reduced number of sensors.
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Submitted on : Friday, December 7, 2018 - 6:17:26 PM
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Alfonso Estrada Vela, Diana Alcantara, Ruben Morales Menendez, Oliver Sename, Luc Dugard. H ∞ Observer for Damper Force in a Semi-Active Suspension. 16th IFAC Symposium on Information Control Problems in Manufaturing (INCOM2018), Jun 2018, Bergame, Italy. pp.764-769. ⟨hal-01948574⟩

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