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LMI-Based H_∞ Controller of Vehicle Roll Stability Control Systems with Input and Output Delays.

Jonatan Pajares Redondo¹, Beatriz L Boada¹, Vicente Díaz¹

¹Mechanical Engineering Department, Institute for Automotive Vehicle Safety (ISVA), Universidad Carlos III de Madrid, Avda. de la Universidad 30, Leganés, 28911 Madrid, Spain.

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|December 10, 2021

Summary

This study introduces a new LMI-Based H∞ output-feedback controller designed to manage delays in commercial vehicle Roll Stability Control (RSC) systems. The controller effectively compensates for network-induced sensor and actuator delays, enhancing vehicle stability.

Keywords:

H∞ controller input and output delay networked control systems roll stability control vehicle dynamics

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Area of Science:

Automotive Engineering
Control Systems Engineering
Embedded Systems

Background:

Commercial vehicle control systems aim to reduce risks and improve stability.
Low-cost embedded systems are being developed for vehicles, but face challenges with sensor delays and noise.
Compensating for input and output delays is crucial for effective control system performance.

Purpose of the Study:

To develop an LMI-Based H∞ output-feedback controller for Roll Stability Control (RSC) systems.
To address network-induced delays on both sensor and actuator sides in active suspension systems.
To improve the performance of RSC systems by accounting for input and output delays.

Main Methods:

Design of an LMI-Based H∞ output-feedback controller considering input and output delays.
Utilizing anti-roll moment as control input and roll rate as measured data, both with delays.
Simulation tests using a validated vehicle model in TruckSim® software.

Main Results:

The developed controller demonstrated effectiveness in managing delays within the RSC system.
Simulations showed improved performance compared to a controller that did not account for delays.
The controller successfully compensated for sensor and actuator delays in the active suspension system.

Conclusions:

The LMI-Based H∞ output-feedback controller is a viable solution for mitigating delays in commercial vehicle RSC systems.
Accounting for network delays is essential for optimizing the performance and safety of active suspension systems.
This approach enhances vehicle stability and control in the presence of system delays.