In this paper, a fault-tolerant-control (FTC) scheme with finite-time convergence characteristics for vehicle active suspension systems is proposed. A full-car model with unknown dynamics and uncertain parameters is studied. To stabilize the vertical, pitch, and roll displacements into a desired equilibrium in finite time with an uncertain mathematical model and actuator faults, a novel non-singular terminal sliding mode controller (NSTSMC) is designed to control the vertical, pitch, and roll displacements. The control scheme is absolutely continuous and robust. In addition, an improved extended state observer (IESO) with switch terms is employed to compensate for the lumped uncertainty in the suspension systems. Compared with the traditional feedback linearization control based on a linear extended state observer (LESO), this scheme can achieve higher control precision, especially for high-frequency road excitations. Finally, numerical results are shown to verify the merit and effectiveness of the proposed controller, where different types of road excitations are considered to verify the proposed approach in detail.

中文翻译：

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不确定的全车主动悬架系统基于ESO的终端滑模控制

提出了一种具有有限时间收敛特性的车辆主动悬架系统容错控制方案。研究了具有未知动力学和不确定参数的完整汽车模型。为了在不确定的数学模型和执行器故障的情况下，在有限的时间内将垂直，俯仰和侧倾位移稳定到所需的平衡，设计了一种新颖的非奇异终端滑模控制器（NSTSMC）来控制垂直，俯仰和侧倾位移。控制方案绝对是连续且稳健的。另外，采用具有开关项的改进的扩展状态观察器（IESO）来补偿悬架系统中的总不确定性。与基于线性扩展状态观察器（LESO）的传统反馈线性化控制相比，该方案可以实现更高的控制精度，特别是对于高频道路激励。最后，数值结果表明了所提出控制器的优点和有效性，其中考虑了不同类型的道路激励来详细验证所提出的方法。