Active suspensions decoupling by algebraic feedback

Active suspensions of advanced vehicles allows the active rejection of external disturbances exerted directly on the sprung mass of the vehicle and due to the road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis of a decoupling control law of the regulated outputs, i.e., roll, pitch and chassis height, from the external disturbances. The framework throughout is the geometric approach to the control of dynamic systems. It will be shown that a controlled and conditioned invariant subspace exists and this allows the perfect disturbance localization by feeding back the suspensions heights.