<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Hybrid model predictive control application towards optimal semi-active suspension"^^ . "The optimal control problem of a quartercar semi-active suspension has been studied in the past.\r\nConsidering that a quarter-car semi-active suspension can\r\neither be modeled as a linear system with state dependent\r\nconstraint on control (of actuator force) input, or a bilinear system with a control (of variable damping coefficient) saturation, the seemingly simple problem poses several interesting questions and challenges. Does the optimal control law derived from the corresponding un-constrained system, i.e. “clipped-optimal”, remain optimal for the constrained case? If the optimal control law of the constrained system does deviate from its un-constrained counter-part, how different are they? What is the structure of the optimal control law? In this paper, we attempt to answer some of the above questions by utilizing the recent development in model predictive control (MPC) of hybrid dynamical systems. The constrained quarter-car semi-active suspension is modeled as a switching affine system, where the switching is determined\r\nby the activation of passivity constraints, force saturation, and maximum power dissipation limits. Theoretically, over an infinite prediction horizon the MPC controller corresponds to the exact optimal controller. The performance of different finite-horizon hybrid MPC controllers is tested in simulation using mixed-integer quadratic programming.\r\nThen, for short-horizon MPC controllers, we derive the\r\nexplicit optimal control law and show that the optimal\r\ncontrol is piecewise affine in state. In particular, we show\r\nthat for horizon equal to one the explicit MPC control law\r\ncorresponds to clipped LQR. We will compare the derived\r\noptimal control law to various semi-active control laws in\r\nthe literature including the well-known “clipped-optimal”.\r\nWe will evaluate their corresponding performances for both\r\na deterministic shock input case and a stochastic random\r\ndisturbances case through simulations."^^ . "2005-06" . . "IEEE"^^ . . "IEEE"^^ . . . "Symposium on Industrial Electronics"^^ . . . . . . . . . . . . . . . . . "H. E."^^ . "Tseng"^^ . "H. E. Tseng"^^ . . "Nicolò"^^ . "Giorgetti"^^ . "Nicolò Giorgetti"^^ . . "Davor"^^ . "Hrovat"^^ . "Davor Hrovat"^^ . . "Alberto"^^ . "Bemporad"^^ . "Alberto Bemporad"^^ . . . . "IEEE International Symposium on Industrial Electronics, 2005"^^ . . . . . "20th - 23th June 2005"^^ . . . . . "HTML Summary of #523 \n\nHybrid model predictive control application towards optimal semi-active suspension\n\n" . "text/html" . . . "QA75 Electronic computers. Computer science"@en . . . "TL Motor vehicles. Aeronautics. Astronautics"@en . .