Decoupling Control for the "Half Car" Model: a Comparative Analysis of Linear and Linear-Quadratic Control Algorithms with Active Disturbance Rejection Control

Authors: Alhelou М., Gavrilov A.I. Published: 25.12.2021
Published in issue: #4(137)/2021  
DOI: 10.18698/0236-3933-2021-4-4-26

Category: Informatics, Computer Engineering and Control | Chapter: System Analysis, Control, and Information Processing  
Keywords: ADRC, Half-Car model, NSGA-II, extended states observer, genetic algorithm, multi-objective optimization, comfort problem, handling problem, PD controller, tracking differentiator

The linear multi-independent and multivariate linear-quadratic approaches to the implementation of active disturbance rejection control are considered. The first approach is based on controlling multidimensional systems whose input number is equal to the output number, using several separate elements of active disturbance rejection control. The second approach is based on the transformation of the control problem into a multidimensional controlled system using a linear quadratic regulator LQR. The parameters of the two proposed control synthesis algorithms are tuned using the desired closed-loop cutoff frequency and the observer's dynamic velocity multiplier. A multi-criteria optimization procedure is performed using the NSGA-II algorithm. The proposed approaches are verified by modelling the car's suspension active control system. The testing was performed considering the vehicle motion at relatively high speeds under the assumption that the perturbed motion occurs only in the vertical direction. As a result of the simulation, it was found that using the proposed approaches, the responses of the quality indicators improved with respect to the displacement of the suspension mass with no significant deterioration in its acceleration. The first approach can be considered effective in controlling multidimensional systems, in addition to the simplicity of design and ease of its parameters adjustment. The second approach gives better results than the first approach, but with higher costs in mathematical calculations


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