A novel adaptive actuator failure compensation scheme based on multi-design integration for half-car active suspension system

Abstract

A new actuator failure compensation scheme in the presence of actuator failures with multi-uncertainties is proposed for half-car active suspension systems based on multi-design integration. A parameterized function has been introduced to denote the multiple failures occurred in the front and rear actuators. An effective feedback controller is designed to obtain asymptotic tracking and closed-loop system stability by employing backstepping technique. Based on the desired controller, multiple adaptive control signals are designed corresponding to each possible failure case. By introducing failure indicator functions and integrating these control signals, a composite controller is constructed to handle all failure patterns, which ensures both pitch and vertical motions of car body to stabilize and track the desired signals. Finally, simulation is conducted to verify the effectiveness of the controller proposed in this study.