Design of Constrained Robust Controller for Active Suspension of In-Wheel-Drive Electric Vehicles

This paper presents a constrained robust H ∞ controller design of active suspension system for in-wheel-independent-drive electric vehicles considering control constraint and parameter variation. In the active suspension system model, parameter uncertainties of sprung mass are analyzed via linear fraction transformation, and the perturbation bounds can be also limited, then the uncertain quarter-vehicle active suspension model where the in-wheel motor is suspended as a dynamic vibration absorber is built. The constrained robust H ∞ feedback controller of the closed-loop active suspension system is designed using the concept of reachable sets and ellipsoids, in which the dynamic tire displacements and the suspension working spaces are constrained, and a comprehensive solution is finally derived from H ∞ performance and robust stability. Simulations on frequency responses and road excitations are implemented to verify and evaluate the performance of the designed controller; results show that the active suspension with a developed H ∞ controller can effectively achieve better ride comfort and road-holding ability compared with passive suspension despite the existence of control constraints and parameter variations.