Abstract:

An adaptive control scheme for half-car active suspension system with actuator failures was proposed to ensure the stable operation of the suspension system under the actuator failure. Under the proposed control framework, the half-car active suspension system was divided into two subsystems. The
controller was designed based on the first subsystem, and the second subsystem was regarded as zero dynamic of this system. For the first system, the methods of constrained and adaptive controls were put, for the second subsystem, the stability analysis of zero dynamic was presented. The results show that the method of constrained control ensures that some important state variables of the system satisfy the given restrictive conditions. The adverse effects of the actuator failures can be compensated by the adaptive control method.The system is ensured to be uniformly ultimately bounded by the method of stability analysis. The simulation example verifies the effectiveness of the proposed scheme.

Key words: active suspension system, actuator failures, constrained control, adaptive control, zero dynamic