Robust active suspension preview control method based on unknown road detection information

Although robust active suspension control problem has been well studied, robust controller design considering unknown road surface recognition (such as speed bump detection) has not been fully solved. This paper developed a H∞(H-infinity) preview control method to complete the robust active control design for suspension systems, which uses the ideas of visual perception proposed for preview control. First, a novel detection approach of typical working conditions of urban road (speed bump pavement) based on YOLOV5 is developed using camera combined with image fitting technology. Then, an augmented system is constructed using the recognized speed bump information, so as to reformulate the active suspension control into a modified robust regulation problem. On this basis, the linear matrix inequalities (LMI) technique is introduced to develop the H∞ preview control of the suspension system. Finally, the efficiency of the proposed speed bump detection and H∞ preview control approach is verified by real vehicle testing and simulation, respectively.