A Hybrid Fault-Tolerant Control for Nonlinear Active Suspension Systems Subjected to Actuator Faults and Road Disturbances

Abstract

This paper proposes a hybrid fault-tolerant control strategy for nonlinear active suspension subjected to actuator faults and road disturbances. First, an augmented closed-loop system model is established for the nonlinear active suspension system with the actuator faults and road disturbances. Then, based on this model, a hybrid fault-tolerant controller that consists of a nominal state-feedback controller and a robust H∞ observer is proposed to stabilize the control plant under fault-free condition and further compensate for the suspension performance loss under the actuator fault condition. Finally, a half-vehicle active suspension example is exploited to demonstrate the effectiveness of the proposed hybrid fault-tolerant controller under various running conditions.

Design and Performance Assessment of Adaptive Harmonic Control for a Half‐Car Active Suspension System

“…Many works use a half-car model of an active suspension system to design, compare, and optimize various control algorithms, e.g., an analysis of the half-car active suspension model using a proportional-integral-derivative (PID), linear quadratic regulator, fuzzy and adaptive neuro-fuzzy inference system [2], a linear quadratic regulator optimal control, and PID classic control on a half-car active suspension system [3], a bioinspired dynamics-based adaptive fuzzy method for half-car active suspension systems with input dead zones and saturations [4], an adaptive controller for the half-car active suspension systems with partial performance constraints [5], a H-infinity fault-tolerant control applied to an active half-car suspension systems with actuators failure accounts [6], a hybrid fault-tolerant controller that consists of a nominal state-feedback controller and a robust H-infinity observer applied to a half-vehicle active suspension under different running conditions [7], a black-box compatible simulation-based approach for solving nonlinear model predictive control (MPC) problem via a parameterized technique to control the vertical dynamics of a half-car vehicle equipped with the semiactive suspension system [8], an adaptive dynamic surface control strategy for a half-car active suspension systems [9], an analysis of adaptive finite-time fault-tolerant control with output constraints for a class of uncertain nonlinear half-car active suspension systems [10], and a direct adaptive neural network controller for a four degree of freedom nonlinear half-car suspension system [11].…”

“…Complexity e following state-space variables notations are used, resulting the state-space equations given in form (7). 4 Complexity…”

“…bf [m/s 2 ] € x bf _ x 2 and a br [m/s 2 ] € x br _ x 6 are the front and rear body acceleration which indicate the passenger comfort.e state-space equations in form(7) together with the chosen input-state-output variables de ned in Table1describe the state-space representation of the system given in(8) and(9).…”

Suspension System Control Based on Type‐2 Fuzzy Sliding Mode Technique

“…Considering this advantage, sliding mode control is a strong tool to confront parametric or nonparametric uncertainties, disturbances, and noise [9]. It is worth noting that invariance is a stronger property than robustness [10,11]. Robustness means to achieve an optimal outcome in the worst conditions, and invariance means to achieve the optimal outcome without influencing the system with noise, disturbances, and indeterminacy.…”

Allocation Optimization of Multi‐Axis Suspension Dynamic Parameter for Tracked Vehicle

“…Ideally, a suspension should adjust its characteristics to meet the needs of different road surfaces [9,10]. For the suspensions to achieve the ability to cope with different road surfaces, it has appeared a variety of active and semiactive suspensions [11][12][13][14], such as electrohydraulic active suspension [15] and electromagnetic semiactive suspension [16]. Zhang et al [17] design a composite electromagnetic suspension (CES) in parallel with an electromagnetic actuator (EA) and a magnetorheological damper (MRD).…”