Co-Design of Enhanced Fuzzy Observer-Based Estimation and Gain-Scheduling Control for Active Suspension Systems Under Malicious Attacks

In this paper, an observer-based gain-scheduling tracking control scheme is designed for cyber-physical active suspension systems (ASSs) with uncertainties and external disturbances. Firstly, a fuzzy suspension model is established based on interval type-2 (IT-2) fuzzy rules to capture the nonlinearity and uncertainty of ASSs. Then, considering that it is difficult to obtain the state information of the suspension system in the complex environment, a co-design method based on the high-order free-weighting gain-scheduling (HFG) control law is proposed. At the same time, a class of Lyapunov functions and slack variable techniques, which are homogeneous polynomial parameter-dependent, are designed to simplify the stability analysis of ASSs. Furthermore, under the premise of satisfying the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> performance index, the exponential stability of the augmented error system under randomly activated network attacks is realized. Finally, the performance of the proposed control scheme is evaluated by numerical and hardware-in-loop (HIL) tests.