Robust Output Feedback Control for Active Seat Suspension Systems with Actuator Time Delay Using -Synthesis Approach

Abstract

This study presents a robust output feedback optimal H_(_∞) control synthesis for a class of uncertain seat suspension systems with actuator saturation and an uncertain actuator time delay. A vertical vibration model of human body is added in order to make the modeling of seat suspension systems more accurate. A dynamic controller is considered by using of two measurable states of the model, by real sensors, as output feedback. Moreover, uncertain actuator time delay is considered to guarantee robust performance of the closed-loop system. The controller is derived by using D-K iteration algorithm for constrained systems with norm-bounded uncertainties. The corresponding closed-loop system is asymptotically stable with a guaranteed H_(_∞) performance. Finally, a design example is presented to show the performance and robustness of the developed theoretical results.