A Stability Guaranteed Robust Fault Tolerant Control Design for Vehicle Suspension Systems Subject to Actuator Faults and Disturbances


A fault tolerant control approach based mostly on a unique sliding mode methodology is proposed in this brief for a full vehicle suspension system. The proposed approach aims at retaining system stability in the presence of model uncertainties, actuator faults, parameter variations, and neglected nonlinear effects. The design is based on a sensible model that has road uncertainties, disturbances, and faults. The planning begins by dividing the system into 2 subsystems: a 1st subsystem with 3 degrees-of-freedom (DoF) representing the chassis and a second subsystem with 4 DoF representing the wheels, electrohydraulic actuators, and impact of road disturbances and actuator faults. Primarily based on the analysis of the system performance, the primary subsystem is considered as the interior dynamic of the entire system for control design functions. The proposed algorithm is implemented in 2 stages to supply a stability guaranteed approach. A sturdy optimal sliding mode controller is intended 1st for the unsure internal dynamics of the system to mitigate the impact of road disturbances. Then, a robust sliding mode controller is proposed to handle actuator faults and ensure overall stability of the whole system. The proposed approach has been tested on a seven-DoF full automobile model subject to uncertainties and actuator faults. The results are compared with those obtained using H∞ approach. The proposed approach optimizes riding comfort and road holding ability even in the presence of actuator faults and parameter variations.

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