Dynamic surface fault-tolerant control of electro-hydraulic active suspension with prescribed performance
GUO Xue-jie
YAN Shuai
SUN Wei-chao
Abstract：Aiming at the problem of vibration suppression for active suspension system with internal uncertainty,exter-nal disturbance and actuator fault,a dynamic surface fault-tolerant control method with prescribed performance is proposed.Firstly,by introducing a prescribed performance function and the logarithmic barrier Lyapunov function,the vehicle body displacement satisfies the prescribed transient and steady-state tracking performance.Compared with the traditional pre-scribed performance methods,this method does not require error transformation and thus has lower complexity.Then,the composite disturbance existing in the suspension system is estimated online by using the nonlinear disturbance observer,and the adverse effect of external disturbance is effectively reduced.By constructing an adaptive law based on the dis-continuous projection method,the hydraulic cylinder internal leakage problem of the electro-hydraulic actuator is solved.At the same time,the dynamic surface technology is introduced to avoid the partial differential calculation problem of the virtual control law in the backstepping method.Finally,based on the Lyapunov stability theory,it is proved that all state variables in the closed-loop system are bounded.The simulation results of Carsim verify the effectiveness and superiority of the proposed control method.
Keywords：electro-hydraulic active suspensionprescribed performancefault tolerant controldisturbance observerdynamic surface technology
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1726-1734 )