Control of Variable-Geometry Vehicle Suspensions: Design and Analysis

Series Editor’s Foreword
Preface
Acknowledgements
Contents
1 Introduction
	1.1 Motivation of Variable-Geometry Suspension Systems
	1.2 Overview of Variable-Geometry Suspension Systems: Constructions …
	1.3 Motivation of Using Learning Features in Suspension Control Systems
	1.4 Contents of the Book
	References
Part I Variable-Geometry Suspension for Wheel Tilting Control
2 LPV-Based Modeling  of Variable-Geometry Suspension
	2.1 Lateral Vehicle Model Extension with Wheel Tilting Effect
	2.2 Model Formulation of Variable-Geometry Vehicle Suspensions
		2.2.1 Formulation of Suspension Kinematics
		2.2.2 Analytic Solution on the Motion of Double-Wishbone Suspension
		2.2.3 Iterative Solution on the Motion of Double-Wishbone Suspension
		2.2.4 Model Formulation for McPherson Suspensions
		2.2.5 Interactions Between Different Motions  in Variable-Geometry Suspension
	2.3 Examination on the Motion Characteristics  of Variable-Geometry Suspension
	2.4 Mechanical Analysis of Actuator Intervention
	References
3 LPV-Based Control of Variable-Geometry Suspension
	3.1 Performances of Variable-Geometry Suspension Systems
	3.2 Optimization of Vehicle Suspension Constructions
	3.3 Formulation of Weighting Functions for Control Design
	3.4 Robust Control Design for Suspension Actuator
		3.4.1 Modeling of the Hydraulic Actuator
		3.4.2 Robust Control Design for Actuator Positioning Control
	3.5 Illustration of the Vehicle Suspension Control Design
	References
4 SOS-Based Modeling, Analysis  and Control
	4.1 Motivations
	4.2 Analysis-Oriented Formulation of Nonlinear Lateral Vehicle Dynamics
		4.2.1 Formulation of Nonlinear Lateral Model
		4.2.2 Modeling the Motion in Variable-Geometry Suspension Mechanism
	4.3 Analysis of Actuation Efficiency Through Nonlinear Method
		4.3.1 Method of Computation for Controlled Invariant Sets
		4.3.2 Illustration of the Effectiveness of the Intervention
	4.4 LPV-Based Design for Suspension Control System
		4.4.1 Model Formulation for Nonlinear Lateral Vehicle Dynamics
		4.4.2 Design of Control via LPV-Based Method
	4.5 Demonstration Example
	References
Part II Independent Steering with Variable-Geometry Suspension
5 Modeling Variable-Geometry Suspension System
	5.1 Dynamical Formulation of Suspension Motion
	5.2 Modeling Lateral Dynamics Considering Variable-Geometry Vehicle Suspensions
	5.3 Model Formulation for Suspension Actuator
	References
6 Hierarchical Control Design Method for Vehicle Suspensions
	6.1 Suspension Control Design for Wheel Tilting
	6.2 Design Methods of Steering Control and Uncertainty
	6.3 Coordination of Steering Control and Torque Vectoring
		6.3.1 Impact of Scheduling Variable on the Control—An Illustration
	6.4 Designing Control for Electro-hydraulic Suspension Actuator
		6.4.1 The Control Design Step
		6.4.2 Illustration of the Control Effectiveness
	References
7 Coordinated Control Strategy for Variable-Geometry Suspension
	7.1 Motivations
	7.2 Distribution Method of Steering and Forces on the Wheels
	7.3 Reconfiguration Strategy
	7.4 Illustration of the Reconfiguration Strategy
	References
8 Control Implementation on Suspension Test Bed
	8.1 Introduction to Test Bed for Variable-Geometry Vehicle Suspension
		8.1.1 Test Bed Construction
		8.1.2 Control Architecture in Human-in-the-Loop Simulations
	8.2 Implemented Control Algorithm on the Suspension Test Bed
		8.2.1 Design on the High Level for Lateral Control Purposes
		8.2.2 Low-Level Control for Suspension Actuation
	8.3 Illustration of Tuning Parameter Selection
	8.4 Demonstration on the Control Evaluation Under …
	References
Part III Guaranteed Suspension Control with Learning Methods
9 Data-Driven Framework for Variable-Geometry Suspension Control
	9.1 Control-Oriented Model Formulation of the Test Bed
	9.2 Design of LPV Control to Achieve Low-Level Operations
	9.3 Demonstration on the Operation of the Control System
	References
10 Guaranteeing Performance Requirements for Suspensions via Robust LPV Framework
	10.1 Fundamentals of the Control Design Structure
	10.2 Selection Process for Measured Disturbances and Scheduling Variables
		10.2.1 Selection of Values for Measured Disturbances and Scheduling Variables
		10.2.2 Selection of Domains for Measured Disturbances and Scheduling Variables
	10.3 Iteration-Based Control Design for Suspension Systems
	References
11 Control Design for Variable-Geometry Suspension with Learning Methods
	11.1 Control Design with Guarantees for Variable-Geometry Suspension
		11.1.1 Design of the Robust Control
		11.1.2 Forming Supervisory Algorithm for Variable-Geometry Suspension
	11.2 Simulation Results with Learning-Based Agent
	11.3 Simulation Results with Driver-in-the-Loop
	References
Index