Data-driven modeling and control design in a hierarchical structure for a variable-geometry suspension test bed

The paper presents a data-driven control design for a steering system, which is based on variable-geometry suspension. The proposed control system into a hierarchical structure with different roles on each layer is ordered, i.e., low-level and high-level controls are designed. The low-level controller is responsible for the realization of the steering angle, while the high-level controller guarantees the trajectory tracking of the vehicle. The low-level controller based on a polytopic model is designed, which model structure through a data-driven identification approach is carried out. The effectiveness and the operation of the hierarchical control structure through a Hardware-in-the-Loop (HiL) simulation are demonstrated. In the HiL simulation environment, the lateral dynamics of the vehicle by the CarMaker software is modeled, and the motion of the variable-geometry suspension through a testbed is realized.