Robust-Adaptive Sliding Mode Controller Design with Fault tolerance for Active Suspension of Half-car model

Zarabadipour, Hassan; Farhangranjbar, Mahdi

doi:10.22067/jacsm.2022.71589.1043

Robust-Adaptive Sliding Mode Controller Design with Fault tolerance for Active Suspension of Half-car model

Document Type : Original Article

Authors

hassan zarabadipour

mahdi farhangranjbar

Department of Electrical Control Engineering, Faculty of Engineering, Imam Khomeini International University, Qazvin, Iran

10.22067/jacsm.2022.71589.1043

Abstract

The comfort of car passengers is one of the most important issues while driving, therefore the suspension system plays a significant role in this matter. To investigate this issue, in this research, the design of a fault-tolerant control system for the active suspension system of the one half- car model has been considered. In this article, the goal is to design a robust-adaptive sliding mode controller to stabilize the vehicle suspension system and converge the output response to the desired response. For this purpose, firstly, the model of the suspension system of the one half of the car is considered in the presence of actuator, sensor, modeling uncertainties and limited external disturbances. Then, with the assumption of not knowing the upper band of the term, including system faults and disturbances, the error tolerant control law has been designed so that the output response of the system in front of any sudden fault converges to the desired(stable) value and also the output of a desired path.

Keywords

Suspension

Half- car model

Robust-adaptive Sliding mode control

uncertainty

Subjects

Control

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