ActiveSuspension Control Comparison ADRC (Active Disturbance Rejection Control), LQR (Linear Quadratic Regulator) and PID
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| Simscape Simulation |
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| Simulink Model |
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| Control Algorithm Comparison |
This project is designed to test and control the vehicle suspension with 3 different control algorithms: ADRC, LQR, and PID. I draw the Cyber Truck on Autodesk Fusion 360 and connected the parts on Simulink Simscape for simulation.
ADRC estimates and compensates for system uncertainties in real-time, providing disturbance rejection performance similar to PID controllers but with less tuning effort.
The theory of LQR optimal control is concerned with operating a dynamic system at a minimum cost. The case where the system dynamics are described by a set of linear differential equations and the cost is described by a quadratic function is called the LQ problem.
A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint and a measured process variable and applies a correction based on proportional, integral, and derivative terms, hence the name.
I sent three disturbances (road height) to the system with different heights. According to the plot, sort of the control algorithm success can be: ADRC, LQR and PID. 
* MATLAB 2023a
* Simulink
* Simulink Simscape
* Simulink Desktop Real-Time
* Simulink Control Toolbox
- Download SuspensionModel.slx.
- Download .stl files into your MATLAB path.
- Be sure that Simscape Multibody parts are attached to .stl files.
Please share your comments and ideas about the project with me. Thank you for your time.