Hybrid control of a hydro-pneumatic tractor suspension

G. Panzani, T. Colombo, S.M. Savaresi, L. Zacearian
2017 2017 IEEE 56th Annual Conference on Decision and Control (CDC)  
We consider the set-point regulation of a non-standard hydro-pneumatic suspension architecture used in commercial tractors, which allows regulating both the stroke and the pressure in the suspension. The model reveals an affine dynamic comprising two single integrators whose actuation is performed by way of suitably switching constant input selections. We design the switching input by way of a hybrid representation, providing necessary and sufficient conditions for the global stabilizability,
more » ... stabilizability, and proposing two constructive hybrid control laws. The first control law solves the stabilization problem, while the second one can be used to suitably reduce the number of switches of the input, thereby reducing the aging of the actuators. Both control laws are tested in simulation, and assessed in terms of performance and robustness in the presence of parametric uncertainties. G. Panzani, T. Colombo and S.M. Savaresi are with
doi:10.1109/cdc.2017.8263674 dblp:conf/cdc/PanzaniCSZ17 fatcat:quvbyviutjednj2rnn2ogjkvci