scholarly journals Development of portable active suspension for welfare support devices: Controller design and performance evaluation of one‐degree‐of‐freedom prototype

2021 ◽  
Vol 214 (2) ◽  
Author(s):  
Keigo Maezato ◽  
Kentaro Asato
Keyword(s):  
Performance Evaluation ◽  
Controller Design ◽  
Active Suspension ◽  
Degree Of Freedom ◽  
And Performance ◽  
Support Devices

A Low-Order H∞ Controller Design for an Active Suspension System via Linear Matrix Inequalities

2004 ◽  
Vol 10 (8) ◽  
pp. 1181-1197 ◽  
Author(s):  
R. Amirifar ◽  
N. Sadati
Keyword(s):  
Controller Design ◽  
Order Reduction ◽  
Active Suspension ◽  
Suspension System ◽  
High Order ◽  
Semidefinite Program ◽  
Linear Matrix ◽  
And Performance ◽  
Weighted Error ◽  
Automatic Laboratory

We present an application of a new controller order reduction technique with stability and performance preservation based on linear matrix inequality optimization to an active suspension system. In this technique, the rank of the residue matrix of a proper rational approximation of a high-order H ∞ controller subject to the H ∞-norm of a frequency-weighted error between the approximated controller and high-order H ∞ controller is minimized. However, since solving this matrix rank minimization problem is very difficult, the rank objective function is replaced with the nuclear-norm that can be reduced to a semidefinite program, so that it can be solved efficiently Application to the active suspension system of the Automatic Laboratory of Grenoble provides a fourth-order controller. The experimental results show the control specifications are met to a large extent.

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