Adaptive Fuzzy Observer Control for Half-Car Active Suspension Systems with Prescribed Performance and Actuator Fault
Abstract
:1. Introduction
- 1.
- The half-car active suspension is analyzed in the presence of uncertain parameters and actuator failures to guarantee ride comfort, suspension deflection, and driving safety;
- 2.
- FLSs are applied to approximate the unknown functions of parametric uncertainties and different masses of passengers. Then, the adaptive fault-tolerant control is designed to compensate for the actuator fault problem;
- 3.
- The PPF technique is incorporated into the control technique to constrain chassis displacement and angular motion within the small boundaries.
2. System Description
2.1. Half Car Suspension Model
2.2. Actuator Fault Formulation and Preliminaries
- (1)
- Lock-in-place type: In this case, the actuator is stuck and cannot respond to the input control signal. Then, the actual signal can be described by and , in which is the constant values of the float fault of and is the constant values of the float fault of .
- (2)
- Loss of effectiveness model: The actual control cannot satisfy the complete value of signal control in this case. This means that some effectiveness is lost, which is denoted by the coefficient factor and . For example, indicates that the remaining coefficient actuator is while the loss signal of the vertical control actuator is .
- (1)
- Ride comfort: The chassis movement must be stabilized and isolated from the external violation of road disturbance, which can improve the passenger comfort;
- (2)
- Handling stability: The active suspension must guarantee the suspension deflection within the mechanical structure. To meet this requirement, the relative suspension deflection (RSD) has to be smaller than 1.
- (3)
- Driving safety: This objective is considered to ensure that the tire should always contact with the road profile. For this purpose, the relative tire fore (RTF) must be kept less than 1.
3. Adaptive Fuzzy Observer Control with Prescribed Performance
3.1. Prescribed Performance Function
3.2. Adaptive Fuzzy Observer Controller with Prescribed Performance
3.3. Handling Stability and Driving Safety Analysis
4. Simulation Results and Discussion
4.1. Simulation Description
4.2. Simulation Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Appendix A
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Parameter | Value | Unit |
---|---|---|
1200 | kg | |
100 | kg | |
100 | kg | |
600 | kgm2 | |
15,000 | Nm−1 | |
150,000 | Nm−1 | |
200,000 | Nm−1 | |
1500 | Nsm−1 | |
1100 | Nsm−1 | |
1200 | Nsm−1 | |
1.2 | m | |
1.5 | m |
Controller | Parameter |
---|---|
Backstepping | |
Back-PPF | |
Proposed |
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Ho, C.M.; Nguyen, C.H.; Ahn, K.K. Adaptive Fuzzy Observer Control for Half-Car Active Suspension Systems with Prescribed Performance and Actuator Fault. Electronics 2022, 11, 1733. https://doi.org/10.3390/electronics11111733
Ho CM, Nguyen CH, Ahn KK. Adaptive Fuzzy Observer Control for Half-Car Active Suspension Systems with Prescribed Performance and Actuator Fault. Electronics. 2022; 11(11):1733. https://doi.org/10.3390/electronics11111733
Chicago/Turabian StyleHo, Cong Minh, Cong Hung Nguyen, and Kyoung Kwan Ahn. 2022. "Adaptive Fuzzy Observer Control for Half-Car Active Suspension Systems with Prescribed Performance and Actuator Fault" Electronics 11, no. 11: 1733. https://doi.org/10.3390/electronics11111733