In this article, based on feedback linearized approach and linear quadratic regulator optimization control approach using particle swarm optimization, the almost disturbance decoupling, input amplitude reduction, tuni...
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In this article, based on feedback linearized approach and linear quadratic regulator optimization control approach using particle swarm optimization, the almost disturbance decoupling, input amplitude reduction, tuning parameter optimization, controllable convergence rate, improved suspension and globally exponential stability multi-performances of highly nonlinear multi-input multi-output full-car uncertain system are simultaneously achieved without applying any nonlinear function approximator including neural network approach and fuzzy logic approach. The article proposes a new method to achieve the optimal control matrices of LQR such that the composite controller can reduce the amplitudes of system control inputs. Determination of the LQR tuning parameters is conventionally determined via trial and error approach. In addition to being very troublesome, it is difficult to find the globally best tuning matrices with LQR method. This study has first proposed the convergence rate formula of the nonlinear system response as the fitness function of LQR approach by using PSO optimization algorithm to take the place of the conventional trial and error method and locally Jacobian linearized approach under the guarantee of globally exponential stability. The simulation results show how the full-car system can be controlled optimally and satisfactorily and confirm the superiority of the proposed method.
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