Comparison of PSO-LQR and PSO-PID Controller Performances on a Real Quarter Vehicle Suspension

Abstract

Active Suspension Systems (ASS) are significant vehicle mechanisms that impact both driving safety and comfort through the utilization of actuators incorporated within their structure. In this study, Particle Swarm optimization (PSO) based Linear Quadratic Regulator (PSO-LQR) and Proportional Integral Derivative (PSO-PID) controllers are designed and implemented on an ASS. A weighted objective function is defined for the PSO algorithm, encompassing crucial performance criteria of the ASS, such as vehicle body acceleration, suspension movement, and tire deflection. The controller structures tested on the ASS are compared with Passive Suspension Systems (PSS), considering the performance criteria. The obtained results reveal that the PSO-LQR controller significantly improves the vehicle body acceleration, suspension travel, tire deflection and dynamic load on the tire compared to the PSS and PSO-PID controllers. © 2023 IEEE.