Model-Free H∞ Output Feedback Control of Road Sensing in Vehicle Active Suspension Based on Reinforcement Learning

Author:

Wang Gang1,Li Kunpeng1,Liu Suqi1,Jing Hui1

Affiliation:

1. Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology, Guilin University of Electronic Technology , Guilin 541004, China

Abstract

Abstract An active suspension system ensures the controllability of a vehicle in the vertical direction, which greatly enhances the control redundancy and safety of an intelligent driven vehicle. However, many calibrated model parameters are not conducive to the application of optimal control. To reduce the control cost of active suspension, a model-free H∞ output feedback control method is studied in this research. First, the optimal governing equation of the active suspension is transformed into a zero-sum game problem of two players, and an off-policy reinforcement learning algorithm is established to solve the game algebraic Riccati equation. This method could overcome the disadvantage of constant interactions between Q-learning and the environment. Secondly, with the consideration that some state variables are difficult to measure, a data-driven H∞ output feedback controller is designed using road sensing information and historical measurement data, and the Bellman equation of the system is solved using the least squares method to obtain the optimal control solution of the active suspension. The simulation and rapid prototype experimental results show that the proposed method could produce the optimal control strategy of the system without model parameters, overcome the strong dependence and sensitivity of traditional design methods to model parameters and improve the robust control effect of the active suspension.

Funder

China Postdoctoral Science Foundation

National Natural Science Foundation of China

Natural Science Foundation of Guangxi Province

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

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