Non-Fragile Observer-Based Dissipative Control of Active Suspensions for In-Wheel Drive EVs with Input Delays and Faults

This paper presents a non-fragile observer-based dissipative control strategy for the suspension systems of electric vehicles equipped with in-wheel motors, accounting for input delays, actuator faults, and observer gain uncertainty. Traditional control approaches—such as (Formula presented.), passive control, and robust feedback schemes, often address these challenges in isolation and with increased conservatism. In contrast, this work introduces a unified framework that integrates fault-tolerant control, delay compensation, and robust state estimation within a dissipativity-based setting. A novel dissipativity analysis tailored to Electric Vehicle Active Suspension Systems (EV-ASSs) is developed, with nonzero delay bounds explicitly incorporated into the stability conditions. The observer is designed to ensure accurate state estimation under gain perturbations, enabling robust full-state feedback control. Stability and performance criteria are formulated via Linear Matrix Inequalities (LMIs) using advanced integral inequalities to reduce conservatism. Numerical simulations validate the proposed method, demonstrating effective fault-tolerant performance, disturbance rejection, and precise state reconstruction, thereby extending beyond the capabilities of traditional control frameworks.