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Robust finite-time fault-tolerant control for vehicle height and posture regulation with air suspension system subject to actuator faults, uncertainties and external disturbance

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Abstract

In this paper, a robust control algorithm is designed to achieve a finite-time vehicle height and posture control through electronically controlled air suspension (ECAS) system subject to actuator faults, uncertainties under non-stationary condition. To achieve simultaneous position control of four corners of vehicle, synchronization errors between corners are taken to form a synchronization control strategy. Furthermore, to improve the system convergence speed and robustness, finite-time stability constrain is applied and \({{H}_{\infty }}\) index is designed strategically in order to develop a novel robust finite-time controller. Since the solenoid valves in the ECAS system may degrade with the frequent switching, actuator fault and uncertain parameters are considered in this study to design the proposed fault-tolerant control methodology. Meanwhile, road disturbance is applied to the vehicle with the ECAS system to provide a non-stationary condition. Several software-in-the-loop tests and hardware-in-the-loop test are conducted to illustrate the effectiveness of the proposed controller.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This research is supported by National Natural Science Foundation of China (Grant No. 52175127), Guangdong Basic and Applied Basic Research Foundation (Grant No. 2019A1515011602) and University of Macau (Grant No. MYRG2020-00045-FST).

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Author notes

  1. Pak Kin Wong and Hang Wang have contributed equally to this work as co-first authors.

Authors and Affiliations

  1. Department of Electromechanical Engineering, University of Macau, Taipa, 999078, Macau

    Pak Kin Wong, Hang Wang & Jing Zhao

  2. Zhuhai UM Science & Technology Research Institute, Zhuhai, China

    Pak Kin Wong

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  1. Pak Kin Wong
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  2. Hang Wang
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  3. Jing Zhao
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Correspondence to Hang Wang.

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Wong, P.K., Wang, H. & Zhao, J. Robust finite-time fault-tolerant control for vehicle height and posture regulation with air suspension system subject to actuator faults, uncertainties and external disturbance. Nonlinear Dyn 111, 10113–10130 (2023). https://doi.org/10.1007/s11071-023-08355-4

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