Fault Tolerant Control with Additive Compensation for Faults in an Automotive Damper

Juan C. Tudon-Martinez (1) , Sébastien Varrier (2) , Ruben Morales Menendez (1) , Ricardo Ramirez Mendoza (1) , Damien Koenig (2) , John Jairo Martinez Molina (2) , Olivier Sename (2)

1 ITESM - Tecnológico de Monterrey = Monterrey Institute of Technology
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

Abstract--A novel Fault-Tolerant Controller is proposed for an automotive suspension system based on a Quarter of Vehicle (QoV) model. The design is divided in a robust Linear Parameter-Varying controller used to isolate vibrations from external disturbances and in a compensation mechanism used to accommodate actuator faults. The compensation mechanism is based on a robust fault detection and estimation scheme that reconstructs a fault on the semi-active damper; this information is used to reduce the failure effect into the vertical dynamics to achieve good control performances. Validations have been made over a QoV model in CarSimTM. Results show the effectiveness of the faulttolerant semi-active damper versus an uncontrolled damper; the improvement is 50.4% in comfort and 42.4% in road holding, by avoiding biases in the damper deflection.

Domaines: Automatique / Robotique

Juan C. Tudon-Martinez, Sébastien Varrier, Ruben Morales Menendez, Ricardo Ramirez Mendoza, Damien Koenig, et al.. Fault Tolerant Control with Additive Compensation for Faults in an Automotive Damper. ICNSC 2013 - IEEE International Conference on Networking Sensing and Control, Apr 2013, Evry, France. ⟨hal-00937240⟩