Analytical Evaluation of Generalized Predictive Control Algorithms Using a Full Vehicle Multi-Body Dynamics Model For Mobility Enhancement

ABSTRACT: This paper discusses research conducted by the U.S. Army Research Laboratory (ARL) - Vehicle Technology Directorate (VTD) on advanced suspension control. ARL-VTD has conducted research on advancedsuspension systems that will reduce the chassis vibration of ground vehicles while maintaining tire contact with the road surface. The purpose of this research is to reduce vibration-induced fatigue to the Warfighter as well as to improve the target aiming precision in-theater. The objective of this paper was to explore the performance effectiveness of various formulations of the Generalized Predictive Control (GPC) algorithm in a simulationenvironment. Each version of the control algorithm was applied to an identical model subjected to the sameground disturbance input and compared to a baseline passive suspension system. The control algorithmsconsidered include a GPC with Implicit Disturbances, GPC with Explicit Disturbances, and GPC with PreviewControl. A two-axle tactical vehicle with independent front and rear suspensions was modeled in the TruckSimfull-vehicle dynamics simulator. The control algorithms were compared based on their effectiveness in controlling peak acceleration and overall average acceleration over a range of vehicle speeds. The algorithms demonstrated significant reductions in the chassis acceleration and pitch of the full-vehicle model. Keywords: Vehicle vibration control, vehicle dynamics simulation, control algorithm, advanced suspension, generalized predictive control.