A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 8 Issue 3
Mar.  2021

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 7.847, Top 10% (SCI Q1)
    CiteScore: 13.0, Top 5% (Q1)
    Google Scholar h5-index: 64, TOP 7
Turn off MathJax
Article Contents
Wenfeng Li, Zhengchao Xie, Jing Zhao, Pak Kin Wong, Hui Wang and Xiaowei Wang, "Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions With Time Delay and Finite Frequency Constraint," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 664-678, Mar. 2021. doi: 10.1109/JAS.2020.1003183
Citation: Wenfeng Li, Zhengchao Xie, Jing Zhao, Pak Kin Wong, Hui Wang and Xiaowei Wang, "Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions With Time Delay and Finite Frequency Constraint," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 664-678, Mar. 2021. doi: 10.1109/JAS.2020.1003183

Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions With Time Delay and Finite Frequency Constraint

doi: 10.1109/JAS.2020.1003183
Funds:  This work was supported by the National Natural Science Foundation of China (51705084), the Natural Science Foundation of Guangdong Province (2018A030313999, 2019A1515011602), the Fundamental Research Funds for the Central Universities (N2003032), the Opening Project of Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology (2019kfkt06, 2020kfkt05), the Research Grants of the University of Macau (MYRG2019-00028-FST), Guangdong Regular Institutions of Characteristic Innovation Project (2017KTSCX176), Key Laboratory of Robotics and Intelligent Equipment of Guangdong Regular Institutions of Higher Education (2017KSYS009), and the National Key Research and Development Program of China (2017YFB1300200, 2017YFB1300203)
More Information
  • This paper proposes a static-output-feedback based robust fuzzy wheelbase preview control algorithm for uncertain active suspensions with time delay and finite frequency constraint. Firstly, a Takagi-Sugeno (T-S) fuzzy augmented model is established to formulate the half-car active suspension system with consideration of time delay, sprung mass variation and wheelbase preview information. Secondly, in view of the resonation between human’s organs and vertical vibrations in the frequency range of 4–8 Hz, a finite frequency control criterion in terms of H norm is developed to improve ride comfort. Meanwhile, other mechanical constraints are also considered and satisfied via generalized H2 norm. Thirdly, in order to maintain the feasibility of the controller despite of some state variables are not online-measured, a two stage approach is adopted to derive a static output feedback controller. Finally, numerical simulation results illustrate the excellent performance of the proposed controller.

     

  • loading
  •  Manuscript received July 11, 2019; revised September 14, 2019; accepted November23, 2019. This work was supported by the National Natural Science Foundation of China (51705084), the Natural Science Foundation of Guangdong Province (2018A030313999, 2019A1515011602), the Fundamental Research Funds for the Central Universities (N2003032), the Opening Project of Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology (2019kfkt06, 2020kfkt05), the Research Grants of the University of Macau (MYRG2019-00028-FST), Guangdong Regular Institutions of Characteristic Innovation Project (2017KTSCX176), Key Laboratory of Robotics and Intelligent Equipment of Guangdong Regular Institutions of Higher Education (2017KSYS009), and the National Key Research and Development Program of China (2017YFB1300200, 2017YFB1300203). Recommended by Associate Editor Hongyi Li. (Corresponding author: Zhengchao Xie and Jing Zhao.) Citation: W. F. Li, Z. C. Xie, J. Zhao, P. K. Wong, H. Wang, and X. W. Wang, “Static-output-feedback based robust fuzzy wheelbase preview control for uncertain active suspensions with time delay and finite frequency constraint,” IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 664–678, Mar. 2021. W. F. Li and Z. C. Xie are with the School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, and Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou 510641, China (e-mail: liwenfeng213@gmail.com; zxie@scut.edu.cn). J. Zhao is with the Department of Electromechanical Engineering, University of Macau, Macau 999078, and the Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou 510641, China (e-mail: jzhao@um.edu.mo). P. K. Wong is with the Department of Electromechanical Engineering, University of Macau, Macau 999078, China (e-mail: fstpkw@um.edu.mo).
     H. Wang is with the School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China (e-mail: wanghui00608@163.com). X. W. Wang is with the School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China (e-mail: wangxw0228@163.com). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/JAS.2020.1003183
  • [1]
    S. S. Sun, X. Tang, J. Yang, D. H. Ning, H. P. Du, S. W. Zhang, and W. H. Li, “A new generation of magnetorheological vehicle suspension system with tunable stiffness and damping characteristics,” IEEE Trans. Ind. Inf., vol. 15, no. 8, pp. 4696–4708, Aug. 2019. doi: 10.1109/TII.2018.2890290
    [2]
    Z. C. Liang, J. Zhao, Z. Dong, Y. F. Wang, and Z. T. Ding, “Torque vectoring and rear-wheel-steering control for vehicle’s uncertain slips on soft and slope terrain using sliding mode algorithm,” IEEE Trans. Vehic. Technol., vol. 69, no. 4, pp. 3805–3815, Apr. 2020. doi: 10.1109/TVT.2020.2974107
    [3]
    Y. Q. Zhang, Y. J. Liu, and L. Liu, “Minimal learning parameters-based adaptive neural control for vehicle active suspensions with input saturation,” Neurocomputing, vol. 396, pp. 153–161, Jul. 2020. doi: 10.1016/j.neucom.2018.07.096
    [4]
    Y. C. Qin, J. J. Rath, C. Hu, C. Sentouh, and R. R. Wang, “Adaptive nonlinear active suspension control based on a robust road classifier with a modified super-twisting algorithm,” Nonlinear Dyn., vol. 97, no. 4, pp. 2425–2442, Sep. 2019. doi: 10.1007/s11071-019-05138-8
    [5]
    L. Zhang, H. T. Ding, Y. J. Huang, H. Chen, K. H. Guo, and Q. Li, “An analytical approach to improve vehicle maneuverability via torque vectoring control: theoretical study and experimental validation,” IEEE Trans. Vehic. Technol., vol. 68, no. 5, pp. 4514–4526, May 2019. doi: 10.1109/TVT.2019.2903872
    [6]
    X. Q. Sun, H. Z. Zhang, Y. F. Cai, S. H. Wang, and L. Chen, “Hybrid modeling and predictive control of intelligent vehicle longitudinal velocity considering nonlinear tire dynamics,” Nonlinear Dyn., vol. 97, no. 2, pp. 1051–1066, Jul. 2019. doi: 10.1007/s11071-019-05030-5
    [7]
    C. Hu, Z. F. Wang, Y. C. Qin, Y. J. Huang, J. X. Wang, and R. R. Wang, “Lane keeping control of autonomous vehicles with prescribed performance considering the rollover prevention and input saturation,” IEEE Trans. Intell. Transp. Syst., vol. 21, no. 7, Jul. 2020. doi: 10.1109/TITS.2019.2924937
    [8]
    W. F. Li, Z. C. Xie, P. K. Wong, X. T. Mei, and J. Zhao, “Adaptive-event-trigger-based fuzzy nonlinear lateral dynamic control for autonomous electric vehicles under insecure communication networks,” IEEE Trans. Ind. Electron., vol. 68, no. 3, pp. 2447–2459, Mar. 2021. doi: 10.1109/TIE.2020.2970680
    [9]
    Y. J. Liu, Q. Zeng, S. C. Tong, C. L. P. Chen, and L. Liu, “Adaptive neural network control for active suspension systems with time-varying vertical displacement and speed constraints,” IEEE Trans. Ind. Electron., vol. 66, no. 12, pp. 9458–9466, Dec. 2019. doi: 10.1109/TIE.2019.2893847
    [10]
    J. Zhao, P. K. Wong, X. B. Ma, and Z. C. Xie, “Chassis integrated control for active suspension, active front steering and direct yaw moment systems using hierarchical strategy,” Veh. Syst. Dyn., vol. 55, no. 1, pp. 72–103, 2017. doi: 10.1080/00423114.2016.1245424
    [11]
    B. Liu, M. Saif, and H. J. Fan, “Adaptive fault tolerant control of a half-car active suspension systems subject to random actuator failures,” IEEE/ASME Trans. Mech., vol. 21, no. 6, pp. 2847–2857, Dec. 2016. doi: 10.1109/TMECH.2016.2587159
    [12]
    H. P. Du, N. Zhang, and J. Lam, “Parameter-dependent input-delayed control of uncertain vehicle suspensions,” J. Sound Vib., vol. 317, no. 3-5, pp. 537–556, Nov. 2008. doi: 10.1016/j.jsv.2008.03.066
    [13]
    H. Y. Li, Z. X. Zhang, H. C. Yan, and X. P. Xie, “Adaptive event-triggered fuzzy control for uncertain active suspension systems,” IEEE Trans. Cybern., vol. 49, no. 12, pp. 4388–4397, Dec. 2019. doi: 10.1109/TCYB.2018.2864776
    [14]
    T. T. Gao, Y. J. Liu, L. Liu, and D. P. Li, “Adaptive neural network-based control for a class of nonlinear pure-feedback systems with time-varying full state constraints,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 5, pp. 923–933, Sep. 2018. doi: 10.1109/JAS.2018.7511195
    [15]
    P. S. Li, J. Lam, R. Q. Lu, and K. W. Kwok, “Stability and L2 synthesis of a class of periodic piecewise time-varying systems,” IEEE Trans. Automat. Control, vol. 64, no. 8, pp. 3378–3384, Aug. 2019. doi: 10.1109/TAC.2018.2880678
    [16]
    W. F. Li, Z. C. Xie, P. K. Wong, Y. C. Cao, X. Q. Hua, and J. Zhao, “Robust nonfragile H optimum control for active suspension systems with time-varying actuator delay,” J. Vib. Control, vol. 25, no. 18, pp. 2435–2452, Jul. 2019. doi: 10.1177/1077546319857338
    [17]
    X. Tang, H. P. Du, S. S. Sun, D. H. Ning, Z. W. Xing, and W. H. Li, “Takagi–sugeno fuzzy control for semi-active vehicle suspension with a magnetorheological damper and experimental validation,” IEEE/ASME Trans. Mech., vol. 22, no. 1, pp. 291–300, Feb. 2017. doi: 10.1109/TMECH.2016.2619361
    [18]
    W. F. Li, Z. C. Xie, J. Zhao, P. K. Wong, and P. S. Li, “Fuzzy finite-frequency output feedback control for nonlinear active suspension systems with time delay and output constraints,” Mech. Syst. Signal Process., vol. 132, pp. 315–334, Oct. 2019. doi: 10.1016/j.ymssp.2019.06.018
    [19]
    L. Liu, Y. J. Liu, and S. C. Tong, “Fuzzy-based multierror constraint control for switched nonlinear systems and its applications,” IEEE Trans. Fuzzy Syst., vol. 27, no. 8, pp. 1519–1531, Aug. 2019. doi: 10.1109/TFUZZ.2018.2882173
    [20]
    H. Y. Li, X. J. Jing, H. K. Lam, and P. Shi, “Fuzzy sampled-data control for uncertain vehicle suspension systems,” IEEE Trans. Cybern., vol. 44, no. 7, pp. 1111–1126, Jul. 2014. doi: 10.1109/TCYB.2013.2279534
    [21]
    J. Na, Y. B. Huang, X. Wu, S. F. Su, and G. Li, “Adaptive finite-time fuzzy control of nonlinear active suspension systems with input delay,” IEEE Trans. Cybern., vol. 50, no. 6, pp. 2639–2650, Jun. 2020. doi: 10.1109/TCYB.2019.2894724
    [22]
    X. D. Zhu, Y. Q. Xia, S. C. Chai, and P. Shi, “Fault detection for vehicle active suspension systems in finite-frequency domain,” IET Control Theory Appl., vol. 13, no. 3, pp. 387–394, Feb. 2019. doi: 10.1049/iet-cta.2018.5922
    [23]
    W. C. Sun, Y. Zhao, J. F. Li, L. X. Zhang, and H. J. Gao, “Active suspension control with frequency band constraints and actuator input delay,” IEEE Trans. Ind. Electron., vol. 59, no. 1, pp. 530–537, Jan. 2012. doi: 10.1109/TIE.2011.2134057
    [24]
    Z. X. Zhang, H. Y. Li, C. W. Wu, and Q. Zhou, “Finite frequency fuzzy H control for uncertain active suspension systems with sensor failure,” IEEE/CAA J. Autom. Sin., vol. 5, no. 4, pp. 777–786, Jul. 2018. doi: 10.1109/JAS.2018.7511132
    [25]
    W. Li, Z. Xie, P. K. Wong, X. Ma, Y. Cao, and J. Zhao, “Nonfragile H control of delayed active suspension systems in finite frequency under nonstationary running,” J. Dyn. Syst. Meas Control, vol. 141, no. 6, pp. 061001, Jun. 2019. doi: 10.1115/1.4042468
    [26]
    H. Jing, R. R. Wang, C. Li, and J. D. Bao, “Robust finite-frequency H control of full-car active suspension,” J. Sound Vib., vol. 441, pp. 221–239, Feb. 2019. doi: 10.1016/j.jsv.2018.06.047
    [27]
    T. Iwasaki and S. Hara, “Generalized KYP lemma: unified frequency domain inequalities with design applications,” IEEE Trans. Autom. Control, vol. 50, no. 1, pp. 41–59, Jan. 2005. doi: 10.1109/TAC.2004.840475
    [28]
    R. R. Wang, H. Jing, H. R. Karimi, and N. Chen, “Robust fault-tolerant H control of active suspension systems with finite-frequency constraint,” Mech. Syst. Signal Process., vol. 62-63, pp. 341–355, Oct. 2015. doi: 10.1016/j.ymssp.2015.01.015
    [29]
    G. Wang, C. Z. Chen, and S. B. Yu, “Robust non-fragile finite-frequency H static output-feedback control for active suspension systems,” Mech. Syst. Signal Process., vol. 91, pp. 41–56, Jul. 2017. doi: 10.1016/j.ymssp.2016.12.039
    [30]
    H. Zhang, R. R. Wang, J. M. Wang, and Y. Shi, “Robust finite frequency H static-output-feedback control with application to vibration active control of structural systems,” Mechatronics, vol. 24, no. 4, pp. 354–366, Jun. 2014. doi: 10.1016/j.mechatronics.2013.07.013
    [31]
    X. W. Li and H. J. Gao, “A heuristic approach to static output-feedback controller synthesis with restricted frequency-domain specifications,” IEEE Trans. Autom. Control, vol. 59, no. 4, pp. 1008–1014, Apr. 2014. doi: 10.1109/TAC.2013.2281472
    [32]
    Y. Q. Hao and Z. S. Duan, “Static output-feedback controller synthesis with restricted frequency domain specifications for time-delay systems,” IET Control Theory Appl, vol. 9, no. 10, pp. 1608–1614, Jun. 2015. doi: 10.1049/iet-cta.2014.1000
    [33]
    X. W. Li and H. J. Gao, “Robust frequency-domain constrained feedback design via a two-stage heuristic approach,” IEEE Trans. Cybern., vol. 45, no. 10, pp. 2065–2075, Oct. 2015. doi: 10.1109/TCYB.2014.2364587
    [34]
    E. K. Bender, “Optimum linear preview control with application to vehicle suspension,” J. Basic Eng., vol. 90, no. 2, pp. 213–221, Jun. 1968.
    [35]
    I. Youn and A. Hac, “Preview control of active suspension with integral action,” Int. J. Automot. Technol., vol. 7, no. 5, pp. 547–554, Aug. 2006.
    [36]
    M. El Madany, Z. Abduljabbar, and M. Foda, “Optimal preview control of active suspensions with integral constraint,” J. Vib. Control, vol. 9, no. 12, pp. 1377–1400, Dec. 2003. doi: 10.1177/1077546304031167
    [37]
    R. S. Prabakar, C. Sujatha, and S. Narayanan, “Optimal semi-active preview control response of a half car vehicle model with magnetorheological damper,” J. Sound Vib., vol. 326, no. 3-5, pp. 400–420, Oct. 2009. doi: 10.1016/j.jsv.2009.05.032
    [38]
    Z. C. Xie, P. K. Wong, X. Z. Huang, and W. H. Cheong, “Design of an active vehicle suspension based on an enhanced PID control with wheelbase preview and tuning using genetic algorithm,” J. Chin. Soc. Mech. Eng., vol. 33, no. 2, pp. 103–112, Apr. 2012.
    [39]
    P. S. Li, J. Lam, and K. C. Cheung, “Multi-objective control for active vehicle suspension with wheelbase preview,” J. Sound Vib., vol. 333, no. 21, pp. 5269–5282, Oct. 2014. doi: 10.1016/j.jsv.2014.06.017
    [40]
    J. Zhao, X. Q. Hua, Y. C. Cao, L. M. Fan, X. T. Mei, and Z. C. Xie, “Design of an integrated controller for active suspension systems based on wheelbase preview and wavelet noise filter,” J. Intell. Fuzzy Syst., vol. 36, no. 4, pp. 3911–3921, Apr. 2019. doi: 10.3233/JIFS-181117
    [41]
    P. S. Li, J. Lam, and K. C. Cheung, “Velocity-dependent multi-objective control of vehicle suspension with preview measurements,” Mechatronics, vol. 24, no. 5, pp. 464–475, Aug. 2014. doi: 10.1016/j.mechatronics.2014.04.008
    [42]
    H. Pang, Y. Wang, X. Zhang, and Z. R. Xu, “Robust state-feedback control design for active suspension system with time-varying input delay and wheelbase preview information,” J. Franklin Inst., vol. 356, no. 4, pp. 1899–1923, Mar. 2019. doi: 10.1016/j.jfranklin.2019.01.011
    [43]
    H. Y. Li, H. H. Liu, S. Hand, and C. Hilton, “Design of robust H controller for a half-vehicle active suspension system with input delay,” Int. J. Syst. Sci., vol. 44, no. 4, pp. 625–640, Jan. 2013. doi: 10.1080/00207721.2011.617895
    [44]
    X. N. Zhang and G. H. Yang, “Performance analysis for multi-delay systems in finite frequency domains,” Int. J. Robust Nonl. Control, vol. 22, no. 8, pp. 933–944, May 2012. doi: 10.1002/rnc.1741

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(13)  / Tables(6)

    Article Metrics

    Article views (849) PDF downloads(56) Cited by()

    Highlights

    • A T-S fuzzy approach is applied to model the uncertain suspension system.
    • A finite frequency criterion is proposed for control synthesis.
    • A fuzzy wheelbase preview static output feedback control algorithm is proposed.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return