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<p>The magnetorheological semi-active suspension (MSAS) system is recognized as an advanced suspension system to suppress the vibration of vehicles. However, the dynamic performance of MSAS systems is prone to degradation under fault conditions, which subsequently compromises vehicle stability and adversely affects operational safety. In this work, an optimal fault-tolerant control (FTC) strategy based on sum of squares (SOS) programming is proposed to enhance the robustness of the MSAS system with faults. First, the generalized fuzzy hysteresis modeling approach is proposed to effectively represent the nonlinear hysteresis behavior of the magnetorheological fluid (MRF) damper. Subsequently, the fault mechanisms of MSAS systems are investigated, and the fault model is established to investigate the dynamic performance of the MSAS system under various fault modes. In addition, an intermediate estimator is utilized to track fault information from sensors and actuators, thereby facilitating the acquisition of system states. Based on the observed states, an SOS-FTC is designed to improve the robustness of the MSAS system with various faults. Finally, the quarter-car test rig (QCTR) is established to validate the effectiveness of the proposed SOS-FTC. Results show that the proposed SOS-FTC exhibits superior performance as compared with passive suspension systems and conventional FTC.</p>

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Robust fault-tolerant nonlinear control of magnetorheological suspension systems via sum-of-squares programming with \(H_{\infty }\) constraints

  • 期刊论文

  • 发表日期：

    2026年5月19日

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  • Chenhui Zheng,
  • Zhi-Xin Yang,
  • Zhijiang Gao,
  • Jing Zhao,
  • Menghua Zhang,
  • Pak Kin Wong

摘要

The magnetorheological semi-active suspension (MSAS) system is recognized as an advanced suspension system to suppress the vibration of vehicles. However, the dynamic performance of MSAS systems is prone to degradation under fault conditions, which subsequently compromises vehicle stability and adversely affects operational safety. In this work, an optimal fault-tolerant control (FTC) strategy based on sum of squares (SOS) programming is proposed to enhance the robustness of the MSAS system with faults. First, the generalized fuzzy hysteresis modeling approach is proposed to effectively represent the nonlinear hysteresis behavior of the magnetorheological fluid (MRF) damper. Subsequently, the fault mechanisms of MSAS systems are investigated, and the fault model is established to investigate the dynamic performance of the MSAS system under various fault modes. In addition, an intermediate estimator is utilized to track fault information from sensors and actuators, thereby facilitating the acquisition of system states. Based on the observed states, an SOS-FTC is designed to improve the robustness of the MSAS system with various faults. Finally, the quarter-car test rig (QCTR) is established to validate the effectiveness of the proposed SOS-FTC. Results show that the proposed SOS-FTC exhibits superior performance as compared with passive suspension systems and conventional FTC.