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Robust Output-Feedback Based Fault-Tolerant Control of Active Suspension with Finite-Frequency Constraint

机译：具有有限频率约束的主动悬架的基于鲁棒输出反馈的容错控制

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In this paper, the H ∞ fault-tolerant control (FTC) problem of active suspensions with finite-frequency constraints is investigated. A full-car model is employed in the controller design such that the heave, pitch and roll motions can be simultaneously controlled. Both the actuator faults and external disturbance are considered in the controller design. As the human body is more sensitive to the vertical vibration in 4-8Hz, robust H ∞ control with finite frequency constraints is designed. From the practical perspective, a robust dynamic output-feedback controller with fault tolerant ability is proposed, while other performances such as suspension deflection and actuator saturation are also considered. Compared with passive suspension, the performance of the proposed controller is more effective, especially in 4-8 Hz range.
机译：本文研究了具有有限频率约束的主动悬架的H∞容错控制（FTC）问题。控制器设计中采用了全车模型，因此可以同时控制起伏，俯仰和侧倾运动。控制器设计中同时考虑了执行器故障和外部干扰。由于人体对4-8Hz的垂直振动更加敏感，因此设计了具有有限频率约束的鲁棒H∞控制。从实践角度出发，提出了一种具有容错能力的鲁棒动态输出反馈控制器，同时还考虑了其​​他性能，例如悬架偏转和执行器饱和。与被动悬挂相比，该控制器的性能更为有效，尤其是在4-8 Hz范围内。

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