Control of Active Suspension System Using $H_{inf}$ And Adaptive Robust Control

$H_{inf}$와 로버스트 적응 제어기를 이용한 능동 현가 시스템의 제어

This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using $H_{inf}$ and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by $H_{inf}$ method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system. An Adaptive Robust Control (ARC) technique is used to design a force controller such that it is robust against actuator uncertainties. Simulation results are given for both frequency and time domains to verify the effectiveness of the designed controllers.