A vibration attenuation control algorithm of half vehicle using active suspension

Vehicle suspension is a MEMO coupling nonlinear system; its vibration couples that of the tires. For the suspension without decoupling, the vibration attenuation is difficult to be controlled precisely. In order to attenuate the vibration of the vehicle effectively, a nonlinear half vehicle model with active suspension is established and a differential geometry approach is used to decouple the nonlinear suspension system. The decoupled system becomes independent linear subsystems, though pole assignment, the vibration attenuation of the sprung mass is achieved. The simulations show that the vertical and the pitching motion of the sprung mass are attenuated greatly, which indicates that the control algorithm is effective.