Reliable Switching-Type Gaining-Scheduling Mechanism for Minecart Active Suspension Systems Under Redundant Channel

Unlike conventional vehicle suspensions, minecart suspension control faces unique challenges such as random abrupt load changes during ore transportation, and channel fading in harsh communication environments, rendering existing suspension modeling and control methods inapplicable. To mitigate the performance degradation of minecart suspension systems caused by complex signal interactions under these operational conditions, this article explores the corresponding reliable gain-scheduling problem through redundant channel utilization. First, this article integrates interval type-2 (IT-2) fuzzy technique with Markov process to simultaneously capture nonlinear suspension sprung characteristics and variations in minecart body mass. Second, a redundant channel transmission (RCT) protocol, based on measurement censoring strategies, is proposed to handle potential signal fading in external communication channels. Subsequently, a multimode high-order free-weighting matrix scheduling (MHFMS) controller is developed to resolve the cross-domain difficulties arising from the interaction between terrain impacts and communication distortions by flexibly leveraging real-time membership function relationships. Meanwhile, time-variant balanced matrices adapted to the homogeneous polynomial framework are introduced to complement the MHFMS control mechanism in constructing working-mode-dependent monomials. Finally, hardware-in-the-loop (HIL) experiments validate the progressiveness of the proposed control method.