Controle de Protótipo de Suspensão Ativa para Veículos de Competição Off-Road

Abstract

This paper presents the process of construction, identification, and control of a reduced-scale prototype of active suspension based on a mechanism of Series Active Variable Geometry Suspension (SAVGS). The methodology employed in this work is based on the application of system identification techniques to obtain mathematical models. Subsequently, a state feedback control law is employed, taking into account the H2 norm and the D-Stability problem. The controllers design is formulated as optimization problems where the constraints are linear matrix inequalities. The results of the practical implementation are presented and demonstrate the effectiveness of the obtained controllers in improving rider comfort in the presence of obstacles on the pavement.