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 5
May  2021

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
W. F. Li, Z. C. Xie, Y. C. Cao, P. K. Wong, and J. Zhao, "Sampled-Data Asynchronous Fuzzy Output Feedback Control for Active Suspension Systems in Restricted Frequency Domain," IEEE/CAA J. Autom. Sinica, vol. 8, no. 5, pp. 1052-1066, May. 2021. doi: 10.1109/JAS.2020.1003306
Citation: W. F. Li, Z. C. Xie, Y. C. Cao, P. K. Wong, and J. Zhao, "Sampled-Data Asynchronous Fuzzy Output Feedback Control for Active Suspension Systems in Restricted Frequency Domain," IEEE/CAA J. Autom. Sinica, vol. 8, no. 5, pp. 1052-1066, May. 2021. doi: 10.1109/JAS.2020.1003306

Sampled-Data Asynchronous Fuzzy Output Feedback Control for Active Suspension Systems in Restricted Frequency Domain

doi: 10.1109/JAS.2020.1003306
Funds:  This work was supported by the National Natural Science Foundation of China (51705084), the Natural Science Foundation of Guangdong Province of China (2018A030313999, 2019A1515011602), the Fundamental Research Funds for the Central Universities (2018MS46, N2003032), the Opening Project of Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology (2019kfkt06), and the Research Grants of the University of Macau (MYRG2017-00135-FST, MYRG2019-00028-FST)
More Information
  • This paper proposes a novel sampled-data asynchronous fuzzy output feedback control approach for active suspension systems in restricted frequency domain. In order to better investigate uncertain suspension dynamics, the sampled-data Takagi-Sugeno (T-S) fuzzy half-car active suspension (HCAS) system is considered, which is further modelled as a continuous system with an input delay. Firstly, considering that the fuzzy system and the fuzzy controller cannot share the identical premises due to the existence of input delay, a reconstructed method is employed to synchronize the time scales of membership functions between the fuzzy controller and the fuzzy system. Secondly, since external disturbances often belong to a restricted frequency range, a finite frequency control criterion is presented for control synthesis to reduce conservatism. Thirdly, given a full information of state variables is hardly available in practical suspension systems, a two-stage method is proposed to calculate the static output feedback control gains. Moreover, an iterative algorithm is proposed to compute the optimum solution. Finally, numerical simulations verify the effectiveness of the proposed controllers.

     

  • loading
  • [1]
    J. Gao, Y. Zhang, J. Zhang, and T. Shen, “Adaptive internal model based control of the RGF using online map learning and statistical feedback law,” IEEE/ASME Trans. Mechatronics, vol. 25, no. 2, pp. 1117–1128, 2020. doi: 10.1109/TMECH.2019.2962733
    [2]
    J. Zhao, P. K. Wong, X. Ma, and Z. Xie, “Chassis integrated control for active suspension, active front steering and direct yaw moment systems using hierarchical strategy,” Vehicle System Dynamics, vol. 55, no. 1, pp. 72–103, 2017. doi: 10.1080/00423114.2016.1245424
    [3]
    X. Na and D. J. Cole, “Modelling of a human driver’s interaction with vehicle automated steering using cooperative game theory,” IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1095–1107, 2019. doi: 10.1109/JAS.2019.1911675
    [4]
    Y. T. Tian, X. H. Cao, X. Y. Wang, and Y. B. Zhao, “Four wheel independent drive electric vehicle lateral stability control strategy,” IEEE/CAA J. Autom. Sinica. vol. 7, no. 6, pp. 1542–1554, 2020.
    [5]
    W. Li, Z. Xie, P. K. Wong, X. 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.
    [6]
    W. F. Li, Z. C. Xie, J. Zhao, and P. K. Wong, “Velocity-based robust fault tolerant automatic steering control of autonomous ground vehicles via adaptive event triggered network communication”, Mechanical Systems and Signal Proc., vol. 143, 106798, 2020. DOI: https://doi.org/10.1016/j.ymssp.2020.106798.
    [7]
    Z. Liang, J. Zhao, Z. Dong, Y. Wang, and Z. Ding, “Torque vectoring and rear-wheel-steering control for vehicle’s uncertain slips on soft and slope terrain using sliding mode algorithm,” IEEE Trans. Vehicular Technology, vol. 69, no. 4, pp. 3805–3815, 2020. doi: 10.1109/TVT.2020.2974107
    [8]
    J. W. Gao, K. Feng, Y. L. Wang, Y. H. Wu, and H. Chen, “Design, implementation and experimental verification of a compensator-based triple-step model reference controller for an automotive electronic throttle”, Control Engineering Practice, vol. 100, 104447, 2020. DOI: https://doi.org/10.1016/j.conengprac.2020.104447.
    [9]
    M. Yu, C. Arana, S. A. Evangelou, D. Dini, and G. D. Cleaver, “Parallel active link suspension: A quarter-car experimental study,” IEEE/ASME Trans. Mechatronics, vol. 23, no. 5, pp. 2066–2077, 2018. doi: 10.1109/TMECH.2018.2864785
    [10]
    H. Pan and W. Sun, “Nonlinear output feedback finite-time control for vehicle active suspension systems,” IEEE Trans. Industrial Informatics, vol. 15, no. 4, pp. 2073–2082, 2019. doi: 10.1109/TII.2018.2866518
    [11]
    M. S. Lathkar, P. D. Shendge, and S. B. Phadke, “Active control of uncertain seat suspension system based on a state and disturbance observer,” IEEE Trans. Systems, Man, and Cybernetics: Systems vol. 50, no. 3, pp. 840–850, 2020.
    [12]
    P. Li, J. Lam, and K. C. Cheung, “Multi-objective control for active vehicle suspension with wheelbase preview,” J. Sound and Vibration, vol. 333, no. 21, pp. 5269–5282, 2014. doi: 10.1016/j.jsv.2014.06.017
    [13]
    Y. Liu, Q. Zeng, S. 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. Industrial Electronics, vol. 66, no. 12, pp. 9458–9466, 2019. doi: 10.1109/TIE.2019.2893847
    [14]
    Y. Liu, Q. Zeng, S. Tong, C. L. P. Chen, and L. Liu, “Actuator failure compensation-based adaptive control of active suspension systems with prescribed performance,” IEEE Trans. Industrial Electronics, vol. 67, no. 8, pp. 7044–7053, 2020. doi: 10.1109/TIE.2019.2937037
    [15]
    H. Li, H. Liu, H. Gao, and P. Shi, “Reliable fuzzy control for active suspension systems with actuator delay and fault,” IEEE Trans. Fuzzy Systems, vol. 20, no. 2, pp. 342–357, 2012. doi: 10.1109/TFUZZ.2011.2174244
    [16]
    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. Cybernetics, vol. 49, no. 12, pp. 4388–4397, 2019. doi: 10.1109/TCYB.2018.2864776
    [17]
    W. Li, Z. Xie, J. Zhao, S. Chu, P. K. Wong, and J. Gao, “Improved AET robust control for networked T-S fuzzy systems with asynchronous constraints,” IEEE Trans. Cybernetics. 2020. DOI: 10.1109/TCYB.2020.2989404.
    [18]
    J. Na, Y. Huang, X. Wu, S. Su, and G. Li, “Adaptive finite-time fuzzy control of nonlinear active suspension systems with input delay,” IEEE Trans. Cybernetics, vol. 50, no. 6, pp. 2639–2650, 2020. doi: 10.1109/TCYB.2019.2894724
    [19]
    S. Wen, M. Z. Q. Chen, Z. Zeng, X. Yu, and T. Huang, “Fuzzy control for uncertain vehicle active suspension systems via dynamic sliding-mode approach,” IEEE Trans. Systems Man &Cybernetics Systems, vol. 47, no. 1, pp. 24–32, 2017.
    [20]
    M. Yang, C. Peng, G. Li, Y. Wang, and S. Ma, “Event-triggered H∞ control for active semi-vehicle suspension system with communication constraints,” Information Sciences, vol. 486, pp. 101–113, 2019. doi: 10.1016/j.ins.2019.02.047
    [21]
    H. Du and N. Zhang, “Fuzzy control for nonlinear uncertain electrohydraulic active Suspensions with input constraint,” IEEE Trans. Fuzzy Systems, vol. 17, no. 2, pp. 343–356, 2009. doi: 10.1109/TFUZZ.2008.2011814
    [22]
    H. Yang, Y. Jiang, and S. Yin, “Adaptive fuzzy fault tolerant control for markov jump systems with additive and multiplicative actuator faults,” IEEE Trans. Fuzzy Systems. 2020. DOI: 10.1109/TFUZZ.2020.2965884.
    [23]
    H. Yang and H. Wang, “Robust adaptive fault-tolerant control for uncertain nonlinear system with unmodeled dynamics based on fuzzy approximation,” Neurocomputing, vol. 173, pp. 1660–1670, 2016. doi: 10.1016/j.neucom.2015.09.039
    [24]
    H. Gao, J. Wu, and P. Shi, “Robust sampled-data H∞ control with stochastic sampling,” Automatica, vol. 45, no. 7, pp. 1729–1736, 2009. doi: 10.1016/j.automatica.2009.03.004
    [25]
    X. Jiang, “On sampled-data fuzzy control design approach for T–S model-based fuzzy systems by using discretization approach,” Information Sciences, vol. 296, pp. 307–314, 2015. doi: 10.1016/j.ins.2014.10.068
    [26]
    D. W. Kim and H. J. Lee, “Sampled-data observer-based output-feedback fuzzy stabilization of nonlinear systems: Exact discrete-time design approach,” Fuzzy Sets and Systems, vol. 201, pp. 20–39, 2012. doi: 10.1016/j.fss.2011.12.017
    [27]
    M. Wang, J. Qiu, M. Chadli, and M. Wang, “A wwitched system approach to exponential stabilization of sampled-data T–S fuzzy systems with packet dropouts,” IEEE Trans. Cybernetics, vol. 46, no. 12, pp. 3145–3156, 2016. doi: 10.1109/TCYB.2015.2498522
    [28]
    E. Fridman, A. Seuret, and J.-P. Richard, “Robust sampled-data stabilization of linear systems: An input delay approach,” Automatica, vol. 40, no. 8, pp. 1441–1446, 2004. doi: 10.1016/j.automatica.2004.03.003
    [29]
    H. Li, X. Jing, H. K. Lam, and P. Shi, “Fuzzy sampled-data control for uncertain vehicle suspension systems,” IEEE Trans. Cybernetics, vol. 44, no. 7, pp. 1111–1126, 2014. doi: 10.1109/TCYB.2013.2279534
    [30]
    H. Gao, W. Sun, and P. Shi, “Robust sampled-data H control for vehicle active suspension systems,” IEEE Trans. Control Systems Technology, vol. 18, no. 1, pp. 238–245, 2010. doi: 10.1109/TCST.2009.2015653
    [31]
    C. Peng, D. Yue, and M. Fei, “Relaxed stability and stabilization conditions of networked fuzzy control systems subject to asynchronous grades of membership,” IEEE Trans. Fuzzy Systems, vol. 22, no. 5, pp. 1101–1112, 2014. doi: 10.1109/TFUZZ.2013.2281993
    [32]
    X. Zhu, Y. Xia, S. Chai, and P. Shi, “Fault detection for vehicle active suspension systems in finite-frequency domain,” IET Control Theory and Applications, vol. 13, no. 3, pp. 387–394, 2019. doi: 10.1049/iet-cta.2018.5922
    [33]
    T. Iwasaki, S. Hara, and H. Yamauchi, “Dynamical system design from a control perspective: finite frequency positive-realness approach,” IEEE Trans. Autom. Control, vol. 48, no. 8, pp. 1337–1354, 2003. doi: 10.1109/TAC.2003.815013
    [34]
    T. Iwasaki and S. Hara, “Generalized KYP lemma: Unified frequency domain inequalities with design applications,” IEEE Trans. Automatic Control, vol. 50, no. 1, pp. 41–59, 2005. doi: 10.1109/TAC.2004.840475
    [35]
    W. Sun, H. Gao, and O. Kaynak, “Finite frequency H control for vehicle active suspension systems,” IEEE Trans. Control Systems Technology, vol. 19, no. 2, pp. 416–422, 2011. doi: 10.1109/TCST.2010.2042296
    [36]
    Z. Zhang, H. Li, C. Wu, and Q. Zhou, “Finite frequency fuzzy H∞ control for uncertain active suspension systems with sensor failure,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 4, pp. 777–786, 2018. doi: 10.1109/JAS.2018.7511132
    [37]
    W. Sun, Y. Zhao, J. Li, L. Zhang, and H. Gao, “Active suspension control with frequency band constraints and actuator input delay,” IEEE Trans. Industrial Electronics, vol. 59, no. 1, pp. 530–537, 2012. doi: 10.1109/TIE.2011.2134057
    [38]
    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. Dynamic Systems,Measurement,and Control-Transactions of ASME, vol. 141, no. 6, pp. 061001–061001-16, 2019. doi: 10.1115/1.4042468
    [39]
    H. Jing, R. Wang, C. Li, and J. Bao, “Robust finite-frequency H control of full-car active suspension,” J. Sound and Vibration, vol. 441, pp. 221–239, 2019. doi: 10.1016/j.jsv.2018.06.047
    [40]
    R. Wang, J. Hui, H. R. Karimi, and C. Nan, “Robust fault-tolerant H control of active suspension systems with finite-frequency constraint,” Mechanical Systems and Signal Processing, vol. 62–63, no. 4702, pp. 341–355, 2015.
    [41]
    X. Li and H. Gao, “Robust frequency-domain constrained feedback design via a two-stage heuristic approach,” IEEE Trans. Cybernetics, vol. 45, no. 10, pp. 2065–2075, 2015. doi: 10.1109/TCYB.2014.2364587
    [42]
    X. Li and H. 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, 2014. doi: 10.1109/TAC.2013.2281472
    [43]
    Y. Hao and Z. Duan, “Static output-feedback controller synthesis with restricted frequency domain specifications for time-delay systems,” IET Control Theory and Applications, vol. 9, no. 10, pp. 1608–1614, 2015. doi: 10.1049/iet-cta.2014.1000
    [44]
    W. Li, Z. Xie, J. Zhao, P. K. Wong, and P. Li, “Fuzzy finite-frequency output feedback control for nonlinear active suspension systems with time delay and output constraints,” Mechanical Systems and Signal Processing, vol. 132, pp. 315–334, 2019. doi: 10.1016/j.ymssp.2019.06.018
    [45]
    H. Zhang, R. Wang, J. 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, 2014. doi: 10.1016/j.mechatronics.2013.07.013
    [46]
    H. D. Choi, C. K. Ahn, P. Shi, L. Wu, and M. T. Lim, “Dynamic output-feedback dissipative control for T-S fuzzy systems with time-varying input delay and output constraints,” IEEE Trans. Fuzzy Systems, vol. 25, no. 3, pp. 511–526, 2017. doi: 10.1109/TFUZZ.2016.2566800
    [47]
    S. Hong, C. Lee, F. Borrelli, and J. K. Hedrick, “A novel approach for vehicle inertial parameter identification using a Dual Kalman filter,” IEEE Trans. Intelligent Transportation Systems, vol. 16, no. 1, pp. 151–161, 2015. doi: 10.1109/TITS.2014.2329305
    [48]
    B. L. Boada, M. J. L. Boada, and H. Zhang, “Sensor fusion based on a Dual Kalman filter for estimation of road irregularities and vehicle mass under static and dynamic conditions,” IEEE/ASME Trans. Mechatronics, vol. 24, no. 3, pp. 1075–1086, 2019. doi: 10.1109/TMECH.2019.2909977
    [49]
    X.-N. Zhang and G.-H. Yang, “Performance analysis for multi-delay systems in finite frequency domains,” Int. J. Robust and Nonlinear Control, vol. 22, no. 8, pp. 933–944, 2012. doi: 10.1002/rnc.1741
    [50]
    X.-N. Zhang and G.-H. Yang, “Delay-dependent state feedback control with small gain conditions in finite frequency domains,” Int. J. Systems Science, vol. 42, no. 3, pp. 369–375, 2011. doi: 10.1080/00207720903513376
    [51]
    J. Y. Ishihara, H. T. M. Kussaba, and R. A. Borges, “Existence of continuous or constant Finsler’s variables for parameter-dependent systems,” IEEE Trans. Autom. Control, vol. 62, no. 8, pp. 4187–4193, 2017. doi: 10.1109/TAC.2017.2682221

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(9)  / Tables(4)

    Article Metrics

    Article views (1421) PDF downloads(70) Cited by()

    Highlights

    • A T-S fuzzy model is proposed for the approximation of uncertain half-car active suspension systems.
    • A reconstructed method is employed to synchronize the membership functions of the fuzzy controller and the fuzzy system.
    • A sampled-data asynchronous control method with finite frequency criterion is proposed for the T-S fuzzy suspension system.
    • An iterative algorithm is proposed to compute the optimum fuzzy static output feedback controller.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return