Event-triggered control and dynamical compensator for active suspension systems with high-order fully actuated system approach

Achieving efficient vibration isolation control for active suspension systems while reducing communication burden contributes to improved ride comfort and enhances the practical applicability. This paper investigates the event-triggered control (ETC) for active suspension systems based on the high-order fully actuated (HOFA) system approach. First, we model the active suspension system as a fourth-order system, which facilitates the direct synthesis of control laws for desired tracking error dynamics. To conserve communication resources in networked control systems, a fixed-threshold event-triggering mechanism is employed, and a hyperbolic tangent function is introduced to guarantee exponential stability of the controlled system. Moreover, uncertainties and disturbances in practical systems can severely degrade the vibration isolation performance of suspension systems. Therefore, a universal dynamical compensator is designed to better suppress unknown disturbances. Finally, stability analysis is conducted for the uncertain nonlinear suspension system, and experiments demonstrate the efficacy and feasibility of the developed method.