Abstract
In this paper, the development of a full vehicle semi-active suspension controller for a 6x6 CSV (combat support vehicle) is described. The controller uses linear optimal control theory to generate the control gains with the overall aim of reducing ride acceleration and hence maximising cross country speed. A vehicle model is developed to predict ride comfort improvements and, in particular, determine the effect that a roll acceleration weighting factor has on the overall vehicle performance. Subsequently, limited state feedback strategies are evaluated to determine the most effective method of implementation on a real vehicle.