Adaptive control for semi-active suspension tracked vehicle

A reduced order model of a quarter vehicle with semi-active suspension is presented, based on an analysis according to the special requirements for suspension in military tracked vehicles. Weighted quadratic performance index related to vertical acceleration and suspension travel is used to design the linear quadratic Gaussian (LQG) controller. The LQG control system is then employed as the reference model of a model reference adaptive control (MRAC) system, and the Lyapunov stability theory is used in the design of the MRAC. Simulation results indicate that the MRAC can adapt to the variation of suspension parameters and keep the optimality. The proposed system can adapt to the road conditions and variation of suspension parameters.