Preview Model Predictive Control of Semi-active Suspension for Speed Bump

A preview controller that utilizes forward road information, assuming it is available, is designed in this study by employing model predictive control (MPC). The performance was compared with respect to the preview distances, with a focus on maximizing ride comfort in a single bump scenario, and the optimal preview distance was determined. The control target is a vehicle based on a semi-active suspension-equipped half-car model, with the aim of improving ride comfort performance by adjusting the damping force. Considering the nonlinear characteristics of the semi-active suspension, a mixed logical dynamical (MLD) system was constructed. This system was used to formulate the problem as a mixed integer quadratic programming (MIQP) to compute the optimal control inputs. Finally, the designed controller was compared with the sky-hook controller in terms of performance through simulations using CarMaker and MATLAB/Simulink. It was confirmed that the ride comfort performance was improved.