Research on robust fault-tolerant control of the controllable suspension based on knowledge-data fusion driven.

For the robust fault-tolerant control of the controllable suspension system, a control strategy driven by knowledge-data fusion is proposed. Firstly, the boundary fuzziness between perturbation type uncertainty and gain type fault is analyzed, and then a data-driven method is introduced to avoid the state estimation of system uncertainty and fault. The proximal policy optimization algorithm in reinforcement learning is selected to construct a "data control law", to deal with uncertainty and fault. On the other hand, based on the classical sky-hook control, the "knowledge control law" for system performance optimization is designed, taking into account the nonlinear and non-stationary characteristics of the system. Furthermore, the dependency between robust fault tolerance and performance optimization control is revealed, and the two control laws are fused by numerical multiplication, to realize the performance matching optimization control of robust fault tolerance of controllable suspension system driven by knowledge-data fusion. Finally, the effectiveness and feasibility of the proposed method are verified by the simulation and real-time experiment of non-stationary excitation and near-stationary excitation under the combination of uncertainty and fault.