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Journal of Control Science and Engineering
Volume 2015 (2015), Article ID 690917, 10 pages
Research Article

The Exact Linearization and LQR Control of Semiactive Connected Hydropneumatic Suspension System

Department of Mechanical Engineering, Dalian University of Technology, Liaoning, Dalian 116024, China

Received 2 February 2015; Revised 9 April 2015; Accepted 15 April 2015

Academic Editor: Zoltan Szabo

Copyright © 2015 Xuyang Cao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Based on differential geometry theory, the nonlinear system of connected hydropneumatic suspension was transformed to a linear one. What is more, it realized the decoupling and inverter between the control variables and system outputs. With LQR (Linear Quadratic Regulator) control theory, a semiactive system has been developed for connected hydropneumatic suspension in this paper. By AMESim/Simulink cosimulation, the results show that the semiactive connected hydropneumatic suspension decreases the vibration of upper vehicle quickly and reduces the impact acceleration strongly both in displacement and inroll angle. Moreover, the semiactive suspension could increase the suspension dynamic deflection, which would make the system reach balance quickly and keep small vibration amplitude under the effect of disturbance.