LQG control design for vehicle active anti-roll bar system

Abstract

The objective of this paper is to design a Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) controllers for an active anti-roll bar system. The use of an active anti-roll bar will be analyzed from two different perspectives in vehicle ride comfort and handling performances. This paper proposed the basic vehicle dynamic modelling with four degree or freedom (DOF) on half car model and are described that show, why and how it is possible to control the handling and ride comfort of the car, with the external forces also control strategies on the front anti-roll bar. By simulation analysis, the design model is validity and the performance under control of Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) controller are achieved. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of hair vehicle body. The result shows, however, that LQG produced better response compared to a LQR strategy.