# Adaptive Semi-Active Suspension and Cruise Control through LPV Technique
###### Abstract  
Several studies exist on topics of semi-active suspension and vehicle cruise control systems in the literature, while many of them just consider actual road distortions and terrain characteristics, these systems are not adaptive and their subsystems designed separately. This study introduces a new method where the integration of look-ahead road data in the control of the adaptive semi-active suspension, where it is possible to the trade-off between comfort and stability orientation. This trade-off is designed by the decision layer, where the controller is modified based on prehistorical passive suspension simulations, vehicle velocity and road data, while the behavior of the controller can be modified by the use of a dedicated scheduling variable. The adaptive semi-active suspension control is designed by using Linear Parameter Varying (LPV) framework. In addition to this, it proposes designing the vehicle velocity for the cruise controller by considering energy efficiency and comfort together. TruckSim environment is used to validate the operation of the proposed integrated cruise and semi-active suspension control system.  
adaptive semi-active suspension control; semi-active suspension control; cruise control; Linear Parameter Varying (LPV) 2  
have been considered the skyhook control strategy due to its simplicity to achieve comfort requirement [3; 4; 5; 6]. While it improves ride comfort, it is limited to improve road-holding performance. The hybrid model predictive control (Hybrid MPC) method is currently widely used but it still lacks robustness properties and application is not easy [7]. \(\mathcal{H}_{\infty}\) control approach has been carried out in many publications. This control strategy guarantees good performance in the road holding, vehicle stability and ride comfort [8; 9], however, due to the fixed weighting of the performances, a dynamic control reconfiguration is not possible. Control reconfiguration is significant in terms of suspension control due to different road conditions and irregularities. Therefore, the semi-active suspension control in this study is founded on the Linear Parameter Varying (LPV) framework, which is available for the configuration by changing the scheduling variable [10; 11; 12]. According to the detailed literature review [13; 14; 15; 16; 17; 18], they do not consider the integration of velocity design, oncoming road conditions and the trade-off between vehicle safety and driving comfort simultaneously.  
This study introduces a new method where the integration of look-ahead road data in the control of the adaptive semi-active suspension. In addition to this, it proposes designing the vehicle velocity for the cruise controller by considering energy efficiency and comfort at the same time. TruckSim environment is used to validate the operation of the proposed integrated velocity and semi-active suspension control system. TruckSim environment has several sensors for the desired measurement signals and all results have been analyzed from data, which was provided by TruckSim simulation.  
The paper is organized as follows--Section 2 involves energy-efficient cruise control. Section 3 presents the LPV controller synthesis and the control-oriented quarter-car model. Section 4 describes system integration and decision layer which is method of selection of scheduling variable \(\rho\) depends on GPS based road data and look-ahead cruise control. Section 5 demonstrates the operation of the proposed method in high-fidelity TruckSim simulation environment with real road data. Finally, concluding remarks are presented in Section 6.