Abstract
This paper proposes an adaptive fuzzy observer based fault tolerant controller for a pneumatic active suspension system considering unknown parameters, actuator failures, and displacement constraints. A pneumatic spring is used for a quarter car model to enhance the vibration attenuation performance. Since the pneumatic system contains uncertain nonlinearities, fuzzy logic systems are utilized to approximate unknown nonlinear functions of unmodeled dynamics and various masses of passengers. Besides, a nonlinear disturbance observer is proposed to estimate the effects of the actuator failures, approximation errors, and external disturbances. By utilizing the disturbance estimation and fuzzy approximation techniques, an adaptive fault tolerant control (FTC) is designed to enhance the output performance of the vehicle suspension. Meanwhile, the command filtered scheme is introduced to solve the explosion of complexity problem in the traditional backstepping approach by avoiding virtual controller derivatives. In contrast to previous results, the proposed control can handle the fault tolerant problem and ensure the tracking error of vertical displacement converges into a small-predefined boundary by introducing the prescribed performance function. Moreover, the stability of the closed-loop system is analyzed according to the Lyapunov theory. Finally, comparative simulation examples and experimental studies are performed on the active pneumatic suspension test bench to verify the feasibility of the proposed scheme.
Highlights
With the development of the automotive industry, the suspension system is the most important component of the vehicle chassis, which can improve passenger comfort and driving safety [1]
An adaptive fuzzy observer-based fault tolerant control is designed for the pneumatic suspension system which considers unknown parameters and actuator failures
We focus on the dynamic equations of the sprung mass as follows x&1 = x2 x&2 = f2 + g2 x5 + d2 (t )
Summary
With the development of the automotive industry, the suspension system is the most important component of the vehicle chassis, which can improve passenger comfort and driving safety [1]. Li et al [28] proposed an adaptive event-triggered fuzzy controller which considered the nonlinear uncertainties for the ASSs. To reject the disturbances caused by actuator saturation, a disturbance observer based TakagiSugeno fuzzy control was designed for an active seat suspension to guarantee passenger comfort by Ning et al [29]. Jing et al [44] investigated an adaptive fuzzy observer-based fault tolerant tracking control for uncertain nonlinear systems which considered the unmatched external disturbances and actuator failure problems. Basing on the above discussions, we investigate an adaptive fault tolerant tracking control for the pneumatic ASSs using the fuzzy nonlinear disturbance observer method in this paper. 2. An adaptive fuzzy observer-based fault tolerant control is designed for the pneumatic suspension system which considers unknown parameters and actuator failures.
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