Co-Designed Proactive–Reactive Composite Defense and IT2-Type Fuzzy Control for Active Vehicle Suspensions Systems: Theory and Experiment

Under the background of Industry 5.0, the integration of cyber-physical systems into industrial operations has exposed security vulnerabilities stemming from insufficient security strategies. To address the nonlinear characteristics and network security problems in active vehicle suspension systems (AVSSs), a cooperative control strategy combining interval type-2 (IT2) fuzzy control and moving target defense (MTD) is proposed. First, a discrete-time IT2 fuzzy-based suspension model is developed under sophisticated false data injection (FDI) attacks, incorporating parameter perturbations. Second, in order to counter sophisticated FDI attackers with system knowledge, the proactive–reactive composite defense (PRCD) mechanism is designed. The proactive layer constructs the dynamic system by parameter switching based on the MTD, and the reactive layer constructs the residual detection model using the observer. The PRCD mechanism prevents attacker reconnaissance, enhances defensive capability, and enables attack detection. Third, a switching multimode gain-scheduling control law is proposed based on the homogeneous polynomial technique in the proactive layer. At the same time, a group of augmented time-varying reciprocal matrices is constructed for each switching mode. These matrices are integrated into the stability analysis of the AVSSs to reduce conservatism. Finally, the effectiveness of the proposed method is confirmed through hardware-in-the-loop experiments.