Adaptive Fault Tolerant Control of Active Suspension Systems With Time-Varying Displacement and Velocity Constraints

Zhang, Yong; Liu, Lei

doi:10.1109/access.2020.2964722

Cited by 6 publications

(4 citation statements)

References 39 publications

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“…Step 1: In this step, the tracking error constraint of vertical displacement is guaranteed by the PPF. First, we define the tracking error of sprung mass displacement by 1 1…”

Section: Adaptive Fuzzy Observer Based Fault Tolerant Controller a Adaptive Fuzzy Observer Command Filtered Control With Prescribed Perfomentioning

confidence: 99%

“…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]. Therefore, the active suspension designs have attracted significant attention during the past decades by adopting a wide variety of actuators, involving electromagnetic [2] and hydraulic actuators [3].…”

Section: Introductionmentioning

confidence: 99%

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Design of an Adaptive Fuzzy Observer-Based Fault Tolerant Controller for Pneumatic Active Suspension With Displacement Constraint

Ahn²

2021

IEEE Access

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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.INDEX TERMS Active suspension systems (ASSs), nonlinear disturbance observer (NDOB), prescribed performance function (PPF), fuzzy logic systems (FLSs), command filtered control (CFC).

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“…Step 1: In this step, the tracking error constraint of vertical displacement is guaranteed by the PPF. First, we define the tracking error of sprung mass displacement by 1 1…”

Section: Adaptive Fuzzy Observer Based Fault Tolerant Controller a Adaptive Fuzzy Observer Command Filtered Control With Prescribed Perfomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of an Adaptive Fuzzy Observer-Based Fault Tolerant Controller for Pneumatic Active Suspension With Displacement Constraint

Ahn²

2021

IEEE Access

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“…On the other hand, one major difficulty of the FTC controller for the ASS is that there often exist the parameter uncertainties resulted from the variations of payloads or passenger numbers, which are usually ignored and may impose some negative effects on the controlled active suspensions [21]. To address such problem for the FTC design in vehicle ASS, T-S fuzzy model (TSFM) approach is employed to depict the parametric uncertainties of ASSs by using the fuzzy sets and IF-THEN rules [22,23].…”

Section: Introductionmentioning

confidence: 99%

PI Observer-Based Fault-Tolerant Tracking Controller for Automobile Active Suspensions

et al. 2022

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The objective of this paper is to retain the desirable dynamics performances and improve ride quality for active suspensions with the actuator faults and unknown road disturbances. To that end, a novel proportionalintegral observer (PIO)-based fault-tolerant tracking controller (FTTC) design is proposed for automobile active suspensions (ASSs) encountered with actuator faults and parameter uncertainties. First, the Takagi-Sugeno (T-S) fuzzy model approach is adopted to establish T-S representation of the faulty ASSs by describing vehicle dynamics system as the weighed summation of a common linear system. Afterwards, a nominal robust H∞ output feedback controller is developed to enhance the suspension performances under fault-free mode, whose output response indicators are taken as the prescribed reference trajectories. Then, a PIO-based fault estimator is designed to predict both the system states and the unmeasurable actuator faults, synchronously. On basis of this designed observer, the expected PIO-FTTC is synthesized to track the prescribed reference trajectories, and further to make up for the system performance deteriorations aroused by the actuator faults. Finally, a simulative investigation demonstrates the effectiveness and feasibility of the proposed PIO-FTTC compared to existing control approach.

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“…Other designs of the pipeline inspection robots are also worthy for study [13][14][15][16]. In addition, many aspects should be carefully considered on the integration of robotic systems, such as intelligence [17,18], perception [19,20], task planning [21], robot control [22][23][24], fault tolerance [25,26], etc. All these aspects bring challenges to the successful development of robotic systems for oil pipeline inspection.…”

Section: Introductionmentioning

confidence: 99%

Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

Zhang

et al. 2020

Applied Sciences

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The periodic inspection for oil pipelines is required due to the deterioration over time. A multitude of factors brings such a deterioration, from corrosion, leaks, to cracks, which may lead to blowbacks and cause the damages for operators and the environments. With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. Rather than the assignment of human workers in hazardous environments, the deployment of such kinds of inspection robots can take on this duty more time-efficiently and safely, preventing the human workers from the high-risk of the inspection task in the oil pipelines. This paper presents a novel design of a mobile robot for oil pipeline inspection, which is cooperated with the China National Petroleum Corporation (CNPC). With the improvement of the previous inspection robot used in CNPC’s standard oil pipelines, the newly designed robot is composed of six groups of symmetrical supporting wheels, and a more powerful motors as well as a more advanced control system. This new design endows the oil pipeline inspection robot with better performance on six aspects: traction, obstacle-adaptivity, operation endurance, gradeability, visual perception, and stability. The field testing results at multiple oil transfer stations across several months demonstrate the reliability of this mobile robot under various severe situations in China and validate its performance in the studied aspects.

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Adaptive Fault Tolerant Control of Active Suspension Systems With Time-Varying Displacement and Velocity Constraints

Cited by 6 publications

References 39 publications

Design of an Adaptive Fuzzy Observer-Based Fault Tolerant Controller for Pneumatic Active Suspension With Displacement Constraint

Design of an Adaptive Fuzzy Observer-Based Fault Tolerant Controller for Pneumatic Active Suspension With Displacement Constraint

PI Observer-Based Fault-Tolerant Tracking Controller for Automobile Active Suspensions

Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

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