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Approche LPV pour la commande robuste de la dynamique des véhicules : amélioration conjointe du confort et de la sécurité

Abstract : This work concerns the development of advanced control methods for automotive suspensions to improve road holding and passenger comfort, while satisfying the technological constraints related to the suspension actuators (passivity, nonlinearity, structural limit). In the first part, we propose two control schemes by polytopic LPV (Linear Parameter Varying) approach and by Strong Stabilization with genetic algorithm optimization to solve the comfort/handling and comfort/suspension travel conflits. In the second part, to solve the full semi-active suspension problem, we develop first a generic strategy for general LPV systems subject to actuator saturation and state constraints. The problem is studied in the form of resolution matrix of linear inequalities (LMI) that allows synthesizing an LPV controller and an anti-windup gain to ensure the stability and performance of the closed-loop system. Second, the theoretical result is applied to the case of semi-active suspension control. The proposed methods are validated by an evaluation based on an industrial standard and simulations on a nonlinear quarter vehicle model.
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https://tel.archives-ouvertes.fr/tel-00822010
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Anh Lam Do. Approche LPV pour la commande robuste de la dynamique des véhicules : amélioration conjointe du confort et de la sécurité. Autre. Université de Grenoble, 2011. Français. ⟨NNT : 2011GRENT114⟩. ⟨tel-00822010v2⟩

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