Dynamic Output Feedback Fault-Tolerant Control for Switched Vehicle Active Suspension Delayed Systems

This paper considers the problem of dynamic output feedback fault-tolerant control for switched vehicle active suspension delayed systems with unknown measurement sensitivities. By utilizing a dynamic switched gain, a switched reduced-order state observer is designed to estimate unavailable system states and uncertain system parameters. Subsequently, based on the Nussbaum gain technique, an output feedback fault-tolerant control scheme is proposed to attenuate the influence of the unknown measurement sensitivity on the system output. In addition, an auxiliary switched system is constructed to make up for the effect of the actuator input delays and faults via the backstepping approach. It is proved that all the signals in the closed-loop switched system are semi-globally uniformly ultimate bounded. Meanwhile, the displacement of the vehicle body and the unsprung mass can remain within a small origin neighbourhood under a set of switching signals with average dwell time. Case studies are utilized to illustrate the flexibility and effectiveness of the proposed control approach and indicate that better stabilization of switched vehicle active suspension delayed systems can be achieved through the proposed adaptive fault-tolerant control strategy against the unknown measurement sensitivity.