Optimal control of vehicle active suspension systems with actuator delay

This paper presents a feedforward and feedback controller design approach to solve the problem of optimal control for vehicle active suspension systems with control delay. A quarter-car model with active suspension system is considered. Based on a particular transformation, the original delay system is reduced into a non-delay system. By introducing a disturbance compensation vector, the feedforward and feedback optimal active (FFOA) controller is obtained. The FFOA controller consists of a feedback term and a feedforward term which is to compensate the effect of the load harmonic disturbance. The two terms can be obtained by solving an algebraic Riccad equation and a Sylvester equation respectively. The usefulness and the validity of the proposed controller design mythology are illustrated by a numerical simulation.