Adaptive Fault Tolerant Control of a Half-Car Active Suspension Systems Subject to Random Actuator Failures

Document Type

Article

Publication Date

12-1-2016

Publication Title

IEEE/ASME Transactions on Mechatronics

Volume

21

Issue

6

First Page

2847

Keywords

Active suspension system, adaptive backstepping control, fault tolerant control (FTC), Markovian variable, stochastic actuator failures

Last Page

2857

Abstract

Adaptive fault tolerant control problem for half-car active suspension systems subject to stochastic actuator failures is considered in this paper. Two stochastic functions related to Markovian variables have been introduced to denote the failure for the front and the rear actuators embedded between the car body and the wheel-axle. This makes the problem practical, yet it makes the stability analysis of zero dynamics involving Markovian variables very challenging. By employing adaptive backstepping technique, a new adaptive fault tolerant control scheme is proposed, which ensures the boundedness in probability of the considered systems. Comparative simulation results for a half-car active suspension system are presented to show the effectiveness of the proposed control scheme.

DOI

10.1109/TMECH.2016.2587159

ISSN

10834435

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