Multi-terrain vehicle active suspension control modeling and design

This paper presents the progress of work toward state of art design and development of active suspension low level impedance control for high speed (> 80km/h) multi-terrain vehicles. We have used a quarter car suspension model for mechanical system modeling. The system utilizes hydraulic actuation to change the impedance at joints. The control strategy is designed such that the excitation force or disturbance from the environment is balanced such that the system follows ideal impedance parameters. Control synthesis is performed on the position control scheme for the analysis of sensitivity, robustness and performance. In the end different control tuning techniques are used to improve the impedance control performance under environmental conditions.