Neural-Assisted Synthesis of a Linear Quadratic Controller for Applications in Active Suspension Systems of Wheeled Vehicles

Mateusz Kozek, Adam Smoter and Krzysztof Lalik ()
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Mateusz Kozek: Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Kraków, Poland
Adam Smoter: Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Kraków, Poland
Krzysztof Lalik: Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Kraków, Poland

Energies, 2023, vol. 16, issue 4, 1-17

Abstract: This article presents a neural algorithm based on Reinforcement Learning for optimising Linear Quadratic Regulator (LQR) creation. The proposed method allows designing such a target function that automatically leads to changes in the quality and resource matrix so that the target LQR regulator achieves the desired performance. The solution’s stability and optimality are the target controller’s responsibility. However, the neural mechanism allows obtaining, without expert knowledge, the appropriate Q and R matrices, which will lead to such a gain matrix that will realise the control that will lead to the desired quality. The presented algorithm was tested for the derived quadrant model of the suspension system. Its application improved user comfort by 67% compared to the passive solution and 14% compared to non-optimised LQR.

Keywords: LQR; neural networks; optimal control; MIMO systems; suspension control; active suspension system; suspension performance index; wheeled vehicle (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2023
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