An adaptive sliding mode fault-tolerant control for semi-active suspensions with magnetorheological dampers based on T-S fuzzy vehicle models

Abstract

This paper investigates an improved adaptive sliding mode fault-tolerant control strategy for a magnetorheological semi-active suspension system with parametric uncertainties and actuator faults. Using the experimental data collected by a quarter-vehicle test rig, an adaptive-network-based fuzzy inference system is employed to establish a learning-based magnetorheological damper model firstly. The Takagi-Sugeno fuzzy approach is introduced to deal with the uncertainties of sprung mass and pitch rotary inertia and then the corresponding Takagi-Sugeno faulty semi-active suspension system is constructed. An adaptive sliding mode fault-tolerant controller is proposed, in which the magnetorheological damper fault gain is observed by the designed estimation law, and the asymptotical stability of the system is further analyzed. Finally, numerical simulation tests are conducted to demonstrate the effectiveness of the designed control scheme.