期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 16, 期 3, 页码 416-433出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2007.908191
关键词
active suspension; complex systems; hierarchical decomposition; sensor fault diagnosis; sliding mode control
In this paper, a full vehicle active suspension system is considered with the dynamics of the four force actuators. Being a large-scale and complex nonlinear system, it is physically decomposed into five interconnected subsystems. For each subsystem, a local controller is designed. Each control module is decomposed into functional submodules. In a higher level, a global module is designed to supervise all the submodules. In parallel to this hierarchical structure of control, a fault diagnosis structure is constructed. A local diagnosis module is designed for each subsystem to detect and isolate sensor faults. The local modules are monitored by a global module. Simulation is done to illustrate the system control, diagnosis, and fault tolerance.
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