An Observer-Based Active Fault Tolerant Controller for Vehicle Suspension System

This paper proposes an observer-based active fault-tolerant controller for a half-vehicle active suspension system subjected to the actuator fault as the nonzero offset fault. By constructing the augmented fault suspension system model, an H∞ weighted output feedback controller was developed to improve the vehicle dynamics performances under a fault-free condition. Moreover, a robust observer was designed to make an accurate estimation of the fault information with the auxiliary diagnosis system and further to develop an H∞ fault compensation controller, such that the closed-loop control system can eliminate the negative effects of the actuator faults on vehicle suspension performances. Finally, a numerical simulation investigation was provided to verify the effectiveness of the proposed controller under the random and bump road disturbances.