Neuro‐adaptive output‐feedback optimized stochastic control for the active suspension systems with state constraints

SummaryIn this article, the problem of fixed‐time distributed optimization is researched for third‐order fully heterogeneous nonlinear connected and autonomous vehicles. To address this problem, a fixed‐time distributed optimization algorithm is proposed via a two‐step strategy. First, an optimization algorithm is proposed to generate a virtual reference signal that can converge to the optimal solution. Then, we further construct an adaptive tracking controller to track the virtual signal based on the first step. In the design process of the controller, the virtual control variables and the actual control input are obtained by using the backstepping technique. Furthermore, a fast fixed‐time filter is introduced to avoid the issue of discontinuous gradient functions. Fuzzy logic systems are employed to address the unknown part of the nonlinear function. By using tools from the fixed‐time stability criterion, convex optimization theory, and Lyapunov stability theory, it can be demonstrated that the provided strategy drives all optimization variables to the optimal solution within a fixed time and guarantees the closed‐loop system signals are bounded. Finally, the effectiveness of control strategy is verified via a numerical simulation.

Section: Introductionmentioning

confidence: 99%

Fixed‐time distributed adaptive optimization for third‐order nonlinear fully heterogeneous vehicular platoon systems

Lei,

2024

“…16,17 Active suspension control is also another control channel that is made possible with the introduction of advanced actuator and control methods. 18 Typically, actuator redundancies are identified and exploited by adding ad-hoc algorithms after the controller design problem is solved and implemented. The success of these add-ons depends primarily on the skill and experience of the personnel.…”

Section: Introductionmentioning

confidence: 99%

“…While only front‐wheel steering was available and the amount of steering was mechanically constrained in the past, steer‐by‐wire and four‐wheel‐steering technology recently became feasible and affordable with the introduction of dependable, low‐cost actuators and enabling control strategies 16,17 . Active suspension control is also another control channel that is made possible with the introduction of advanced actuator and control methods 18 . Typically, actuator redundancies are identified and exploited by adding ad‐hoc algorithms after the controller design problem is solved and implemented.…”

Section: Introductionmentioning

confidence: 99%

Integrated vehicle control using adaptive control allocation

Temiz

Çakmakçı

Yıldız

2023

Summary The focus of this paper is an integrated, fault‐tolerant vehicle control algorithm for the overall stability of ground vehicles. The proposed scheme comprises a high‐level controller that creates a virtual control input and a low‐level adaptive control allocator that distributes the virtual control effort among redundant actuators. The proposed control framework distinguishes itself from earlier results in the literature by its ability to blend active suspension, steering and traction control channels, in the presence of uncertainties and time‐varying dynamics, without the need for fault identification. The control structure is validated in the simulation environment using a fourteen‐degree‐of‐freedom non‐linear vehicle model. The integrated controller is compared to the case of a conventional control approach where each control problem is solved separately. Our results show that, compared to the conventional approach, the proposed method ensures that the vehicle follows driver inputs with up to bold33$$ \mathbf{33} $$% higher longitudinal maneuver velocity, despite the presence of actuator failures and slippery road conditions. Furthermore, to demonstrate the benefit of integrating active suspension control to the overall control scheme, we replaced the suspension control of the proposed approach with an independent suspension control system for comparison purposes. We then showed that the integrated case provided bold24$$ \mathbf{24} $$% lower roll angle deviation, and bold20$$ \mathbf{20} $$% lower pitch angle deviation, in the presence of actuator effectiveness loss and adverse road conditions.

“…5 Among them, it is worth noting that the active suspension system (ASS) has an independent actuator, which is an effective method to improve the performance of the vehicle. 6,7 However, the three main features of a vehicle are in conflict with each other. 8 As a consequence, in order to balance the relationship between these features, many research methods have been proposed and the relevant researches have made great achievements, such as adaptive control, [9][10][11][12] sliding mode control, 13,14 robust control, [15][16][17] fault tolerant control, 18,19 fuzzy control, 20,21 and preview control.…”

Section: Introductionmentioning

confidence: 99%

“…The suspension system is mainly composed of shock absorbers, connecting devices and springs, which can be divided into passive suspension, semi‐active suspension, and active suspension 5 . Among them, it is worth noting that the active suspension system (ASS) has an independent actuator, which is an effective method to improve the performance of the vehicle 6,7 . However, the three main features of a vehicle are in conflict with each other 8 .…”

Section: Introductionmentioning

confidence: 99%

Robust fuzzy fault tolerant control for nonlinear active suspension systems via adaptive hybrid triggered scheme

Xie

You

Wong

et al. 2023

Summary This article is concerned with the problem of robust fuzzy fault tolerant control for the nonlinear active suspension system via adaptive hybrid triggered scheme. To describe the system with high nonlinearity, a Takagi‐Sugeno fuzzy approach is applied by weighting a series of linear subsystems. During the design of the controller, the actuator failure is taken into consideration. To ease the network communication pressure, a novel adaptive hybrid triggered scheme is proposed for the suspension system. By applying a Bessel‐Legendre inequality and a Jensen's inequality together, the control algorithm can be derived in the form of linear matrix inequalities with less conservatism. Finally, compared with the existing sampled‐data H∞$$ {H}_{\infty } $$ control and adaptive event triggered H∞$$ {H}_{\infty } $$ control, numerical simulations are performed to demonstrate the effectiveness and superiority of the proposed controller.