LMI-Based Robust Model Predictive Control Architecture for a Quarter Car With Series Active Variable Geometry Suspension
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Bibliographic record
Abstract
This article proposes a robust model predictive control (RMPC)-based solution for the recently introduced series active variable geometry suspension (SAVGS) to improve the ride comfort and road holding of a quarter car. In order to close the gap between the nonlinear multibody SAVGS model and its linear equivalent, a new uncertain system characterization is proposed that captures unmodeled dynamics, parameter variation, and external disturbances. Based on the newly proposed linear uncertain model for the quarter-car SAVGS system, a constrained optimal control problem (OCP) is presented in the form of a linear matrix inequality (LMI) optimization. More specifically, utilizing semidefinite relaxation techniques, a state-feedback RMPC scheme is presented and integrated with the nonlinear multibody SAVGS model, where state-feedback gain and control perturbation are computed online to optimize performance, while physical and design constraints are preserved. Numerical simulation results with different International Organization for Standardization (ISO)-defined road events demonstrate the robustness and significant performance improvement in terms of ride comfort and road holding of the proposed approach, compared to the conventional passive suspension, as well as, to actively controlled SAVGS by a previously developed conventional <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$</tex-math> </inline-formula> control scheme.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it