A comparative study of different NMPC schemes for control of semi-active suspension system

Karthik Murali Madhavan Rathai (1) , Olivier Sename (1) , Mazen Alamir (2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

Control of semi-active suspension system for vertical dynamics of automobiles plays a vital role in guaranteeing comfort and safety for the on-board passengers. The seemingly simple task of control poses to be daunting under the presence of multiple nonlinearities, physical constraints and specification over objective satisfaction of the system and thereby, it is of paramount importance to account for these issues during control system design for better efficiency and prolonged endurance of the suspension system. Amongst the existing several control methodologies, predictive control techniques serves as a promising approach in dealing with the aforementioned issues. In this paper, we present several nonlinear model predictive control (NMPC) schemes and a detailed performance analysis of the methods. The incorporated NMPC schemes are the direct methods-single shooting, multiple shooting and collocation methods. The different methods were tested in simulation under MATLAB environment.

Mots clés: Suspension systems; Optimal control; Non-linear model predictive control; Vehicle dynamics

Domaines: Automatique / Robotique

Karthik Murali Madhavan Rathai, Olivier Sename, Mazen Alamir. A comparative study of different NMPC schemes for control of semi-active suspension system. VSDIA 2018 - 16th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, Nov 2018, Budapest, Hungary. ⟨hal-01994573⟩