Robust adaptive fault tolerant controller design for active suspension system in the presence of physical parametric uncertainties

摘要

This paper presents a robust adaptive state dependent fault tolerant control scheme for the class of nonlinear Lipschitz systems in the presence of bounded matched or unmatched disturbances and actuator loss of effectiveness. A constructive algorithm based on Linear Matrix Inequalities (LMIs) with creatively using Lyapunov stability theory is developed for on-line tuning of state-feedback gains to stabilize the closed-loop control system asymptotically, to compensate actuator faults, and to attenuate disturbance effects. The resulting control system has a simpler structure as compared with most existing recent methods. The merits of the proposed control scheme have been verified by the simulation on an active suspension system in the presence of physical parametric uncertainties. □.