Robust fault‐tolerant H ∞ output feedback control of active suspension and dynamic vibration absorber with finite‐frequency constraint

Abstract

Currently, majorities of the robust H∞ control methods are designed for active suspensions, and seldom take the active control of the in-wheel-motor (IWM) into consideration for IWM driven electric vehicles (EVs). In this study, a robust fault-tolerant H∞ output feedback control strategy with finite-frequency constraint is proposed to synchronously control the active suspension and dynamic vibration absorber (DVA) for IWM driven EVs. Firstly, a DVA-based electric wheel model is developed, in which the IWM is designed as DVA. Furthermore, the spring-damper parameters of the DVA are matched by using particle swarm optimisation (PSO). Then, the robust fault-tolerant H∞ output feedback control strategy is developed based on linear matrix inequality, in which the finite-frequency constraint is designed in the resonance frequency range of sprung mass. Finally, simulation results validate that the PSO can effectively optimise the spring-damper parameters of the DVA. The robust fault-tolerant H∞ output feedback control with finite-frequency constraint can effectively improve the ride comfort and suppress the vertical vibration caused by IWM compared with entire frequency constraint. Meanwhile, the fault-tolerant effectiveness of the proposed method is demonstrated under the actuator faults concerning the actuator force noises and losses.