| Attitude Tracking Control of All-Terrain Vehicle with Tandem Active–Passive Suspension
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| Liang Wu 1,2, Weizhou Zhang 1, Liwei Ni 1,3, Weiwei Jia 4, Iljoong Youn 5 |
1State Key Laboratory of Automotive Simulation and Control , Jilin University
2Changsha Automotive Innovation Research Institute
3School of Mechanical Engineering , Henan College of Engineering
4School of Management Science and Information Engineering , Jilin University of Finance and Economics
5School of Mechanical and Aerospace Engineering , Gyeongsang National University |
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| ABSTRACT |
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When vehicles with traditional passive suspension systems are driving on complex pavement, the large vibration of the body will result in relatively negative effects on ride comfort, vehicle handling, and stability of passengers and goods. Body attitude tracking control based on tandem active–passive suspension can improve vehicle attitude stability and passability by enabling the body attitude to track an ideal position. In addition, the performance limitations of the actuator are considered in the design of the attitude tracking control algorithms. The attitude tracking performances are investigated in both simulations and real car tests. Two control algorithms which adopt linear quadratic regulator (LQR) and model predictive control (MPC) algorithms, are compared and analyzed in terms of theory and control performance. The simulations and real car tests results show that both attitude tracking control algorithms can effectively track the ideal body attitude with acceptable errors under different pavements, and the control effect of MPC is slightly better than that of LQR. In this way, attitude tracking of car body shows a lot of potential when a vehicle is in harsh environments.
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| Key Words:
Attitude tracking control, Model predictive control, Linear quadratic regulator, All-terrain vehicle, Tandem active–passive suspension
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Corresponding Author.
Weiwei Jia , Email. 
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