Linear Quadratic Optimal and Risk-Sensitive Control for Vehicle Active Suspensions

Abstract

This paper is concerned with time-domain optimal control of active suspensions. The optimal control problem formulation is generalized by incorporating both road disturbances (ride quality) and a representation of driver inputs (handling quality) into the optimal control formulation. A regular optimal control problem as well as a risk-sensitive exponential optimal control performance index is considered. Emphasis is placed on practical considerations including the issue of state estimation in the presence of load disturbances (driver inputs).