Adaptive Fault Tolerant Control of a Half-Car Active Suspension Systems Subject to Random Actuator Failures

Adaptive fault tolerant control problem for half-car active suspension systems subject to stochastic actuator failures is considered in this paper. Two stochastic functions related to Markovian variables have been introduced to denote the failure for the front and the rear actuators embedded between the car body and the wheel-axle. This makes the problem practical, yet it makes the stability analysis of zero dynamics involving Markovian variables very challenging. By employing adaptive backstepping technique, a new adaptive fault tolerant control scheme is proposed, which ensures the boundedness in probability of the considered systems. Comparative simulation results for a half-car active suspension system are presented to show the effectiveness of the proposed control scheme