Active fault tolerance control for active suspension with control input time-delay and actuator gain variation fault

Abstract

An active suspension system (ASS) subject to control input time-delay and actuator gain fault is considered in this paper. The system dynamics models with time-delay and gain fault are built. A sliding-mode controller is designed to maintain the stability for the time-delay system. By employing a robust observer and residue errors, the gain fault is detected and diagnosed. The control law reconfiguration is adopted to realise the active fault tolerance control. The act-and-wait control is applied for the active suspension nonlinear system. Comparative simulation results for a quarter-car ASS are presented to show the effectiveness of the adopted control scheme.