Full Text:   <328>

Summary:  <9>

Suppl. Mater.: 

CLC number: 

On-line Access: 2023-03-17

Received: 2022-03-31

Revision Accepted: 2022-10-06

Crosschecked: 2023-03-17

Cited: 0

Clicked: 222

Citations:  Bibtex RefMan EndNote GB/T7714


Yougang SUN


-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2023 Vol.24 No.3 P.272-283


Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments

Author(s):  Yougang SUN, Fengxing LI, Guobin LIN, Junqi XU, Zhenyu HE

Affiliation(s):  Institute of Rail Transit, Tongji University, Shanghai 201804, China; more

Corresponding email(s):   xujunqi@tongji.edu.cn

Key Words:  High-speed maglev transportation, Suspension control system, Adaptive fault-tolerant control (FTC), Partial actuator failure, Mechatronics

Yougang SUN, Fengxing LI, Guobin LIN, Junqi XU, Zhenyu HE. Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments[J]. Journal of Zhejiang University Science A, 2023, 24(3): 272-283.

@article{title="Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments",
author="Yougang SUN, Fengxing LI, Guobin LIN, Junqi XU, Zhenyu HE",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments
%A Yougang SUN
%A Fengxing LI
%A Guobin LIN
%A Junqi XU
%A Zhenyu HE
%J Journal of Zhejiang University SCIENCE A
%V 24
%N 3
%P 272-283
%@ 1673-565X
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200189

T1 - Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments
A1 - Yougang SUN
A1 - Fengxing LI
A1 - Guobin LIN
A1 - Junqi XU
A1 - Zhenyu HE
J0 - Journal of Zhejiang University Science A
VL - 24
IS - 3
SP - 272
EP - 283
%@ 1673-565X
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2200189

High-speed maglev trains will play an important role in the high-speed transportation system in the near future. However, under the conditions of strong magnetic fields and continuous operation, the actuators of the high-speed maglev train suspension system are prone to lose partial effectiveness, which makes the suspension control problem challenging. In addition, most existing fault-tolerant control (FTC) methods for suspension systems require linearization around the equilibrium points during the controller design or stability analysis. Therefore, from a practical perspective, this study presents a novel nonlinear FTC strategy with adaptive compensation for high-speed maglev train suspension systems. First, a nonlinear dynamic model of the suspension system based on join-structure is established and the actuator failures are described. Then, a nonlinear fault-tolerant suspension control law with an adaptive update law is designed to achieve stable suspension against partial actuator failure. The Lyapunov theory and extended Barbalat lemma are utilized to rigorously prove the closed-loop asymptotic stability even if there is partial actuator failure, without any approximation to the original nonlinear dynamics. Finally, hardware experimental results are included to demonstrate the effectiveness of the proposed approach.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


[1]AliSA, GuermoucheM, LangloisN, 2015. Fault-tolerant control based super-twisting algorithm for the diesel engine air path subject to loss-of-effectiveness and additive actuator faults. Applied Mathematical Modelling, 39(15):4309-4329.

[2]AllerhandLI, ShakedU, 2015. Robust switching-based fault tolerant control. IEEE Transactions on Automatic Control, 60(8):2272-2276.

[3]BenosmanM, LumKY, 2010. Passive actuators’ fault-tolerant control for affine nonlinear systems. IEEE Transactions on Control Systems Technology, 18(1):152-163.

[4]BoldeaI, TuteleaLN, XuW, et al., 2018. Linear electric machines, drives, and maglevs: an overview. IEEE Transactions on Industrial Electronics, 65(9):7504-7515.

[5]ChenC, XuJQ, RongLJ, et al., 2022. Neural-network-state-observation-based adaptive inversion control method of maglev train. IEEE Transactions on Vehicular Technology, 71(4):3660-3669.

[6]ChenHX, LongZQ, ChangWS, 2006. Fault tolerant control research for high-speed maglev system with sensor failure. The 6th World Congress on Intelligent Control and Automation, p.2281-2285.

[7]DingJF, YangX, LongZQ, 2019. Structure and control design of levitation electromagnet for electromagnetic suspension medium-speed maglev train. Journal of Vibration and Control, 25(6):1179-1193.

[8]FangYT, YaoYY, 2007. Dynamic performance analysis model of high-reliability EMS-maglev system. Journal of Zhejiang University-SCIENCE A, 8(3):412-415.

[9]GaoZF, ChengP, QianMS, et al., 2018. Active fault-tolerant control approach design for rigid spacecraft with multiple actuator faults. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 232(10):1365-1378.

[10]GuoG, LiP, HaoLY, 2020. Adaptive fault-tolerant control of platoons with guaranteed traffic flow stability. IEEE Transactions on Vehicular Technology, 69(7):6916-6927.

[11]HamayunMT, EdwardsC, AlwiH, 2013. A fault tolerant control allocation scheme with output integral sliding modes. Automatica, 49(6):1830-1837.

[12]HanKZ, ChenCZ, ChenMD, et al., 2021a. Constrained active fault tolerant control based on active fault diagnosis and interpolation optimization. Entropy, 23(8):924.

[13]HanKZ, FengJ, ZhaoQ, et al., 2021b. Robust constrained predictive fault-tolerant control with generalized input parameterization and event-triggered regulation: design and experimental results. IEEE Transactions on Industrial Electronics, 68(9):8615-8625.

[14]JinXZ, YangGH, 2009. Robust adaptive fault-tolerant compensation control with actuator failures and bounded disturbances. Acta Automatica Sinica, 35(3):305-309.

[15]LeeHW, KimKC, LeeJ, 2006. Review of maglev train technologies. IEEE Transactions on Magnetics, 42(7):1917-1925.

[16]LiN, SunHY, ZhangQL, 2019. Robust passive adaptive fault tolerant control for stochastic wing flutter via delay control. European Journal of Control, 48:74-82.

[17]LiXL, ZhangZZ, LongZQ, et al., 2008. Fault-tolerant control for maglev train with joint-structure based on simultaneous stablization. Control Engineering of China, 15(6):724-727 (in Chinese).

[18]LiXL, ZhaiMD, HaoAM, 2017. Maglev train suspension control parameters optimization based on output saturation. Journal of National University of Defense Technology, 39(4):149-153 (in Chinese).

[19]LiXY, WangJZ, 2020. Active fault-tolerant consensus control of Lipschitz nonlinear multiagent systems. International Journal of Robust and Nonlinear Control, 30(13):5233-5252.

[20]LiY, LiJ, ZhangG, et al., 2013. Disturbance decoupled fault diagnosis for sensor fault of maglev suspension system. Journal of Central South University, 20(6):1545-1551.

[21]LongZQ, XueS, ZhangZZ, et al., 2007. A new strategy of active fault-tolerant control for suspension system of maglev train. IEEE International Conference on Automation and Logistics, p.88-94.

[22]LongZQ, XueS, ChenHX, 2008. Passive fault tolerant control for suspension system of Maglev train based on LMI. Computer Simulation, 25(2):265-268 (in Chinese).

[23]LongZQ, LiY, HeG, 2010. Research on electromagnet fault diagnosis technology of suspension control system of maglev train. Control and Decision, 25(7):1004-1009 (in Chinese).

[24]LuoJ, 2020. Research on Fault Diagnosis Method of Suspension System of High Speed Maglev Train. MS Thesis, National University of Defense Technology, Changsha, China (in Chinese).

[25]ShenQ, YueCF, GohCH, et al., 2019. Active fault-tolerant control system design for spacecraft attitude maneuvers with actuator saturation and faults. IEEE Transactions on Industrial Electronics, 66(5):3763-3772.

[26]StefanovskiJD, 2018. Passive fault tolerant perfect tracking with additive faults. Automatica, 87:432-436.

[27]StefanovskiJD, 2019. Fault tolerant control of descriptor systems with disturbances. IEEE Transactions on Automatic Control, 64(3):976-988.

[28]StoustrupJ, BlondelVD, 2004. Fault tolerant control: a simultaneous stabilization result. IEEE Transactions on Automatic Control, 49(2):305-310.

[29]SunN, FangYC, ChenH, 2017. Tracking control for magnetic-suspension systems with online unknown mass identification. Control Engineering Practice, 58:242-253.

[30]SunYG, XuJQ, LinGB, et al., 2022. RBF neural network-based supervisor control for maglev vehicles on an elastic track with network time delay. IEEE Transactions on Industrial Informatics, 18(1):509-519.

[31]SungHK, KimDS, ChoHJ, et al., 2004. Fault tolerant control of electromagnetic levitation system. Proceedings of the 18th Magnetically Levitated System and Linear Drives Conference, p.676-688.

[32]WangZQ, 2019. Fault Diagnosis and Tolerant Control for High Speed Maglev Train Suspension System. PhD Thesis, National University of Defense Technology, Changsha, China (in Chinese).

[33]WangZQ, LiXL, WangQZ, 2014. Current sensor active fault tolerance control based on feedback gain reconfiguration. Applied Mechanics and Materials, 511-512:1012-1016.

[34]WangZQ, LongZQ, LiXL, 2019. Fault analysis and tolerant control for high speed PEMS maglev train end joint structure with disturbance rejection. Journal of Electrical Engineering & Technology, 14(3):1357-1366.

[35]WangZQ, LongZQ, LiXL, 2021. Fault tolerant control for joint structure in PEMS high speed maglev train. Asian Journal of Control, 23(1):486-498.

[36]XuJQ, LinGB, ChenC, et al., 2021. A Simulation Platform of Suspension Control for High Speed and Medium and Low Speed Maglev Train. CN Patent CN111103809B(in Chinese).

[37]YanXG, EdwardsC, 2008. Adaptive sliding-mode-observer-based fault reconstruction for nonlinear systems with parametric uncertainties. IEEE Transactions on Industrial Electronics, 55(11):4029-4036.

[38]YangH, ZhangKP, WangX, 2012. Multi-model switching predictive control with active fault tolerance for high-speed train. Control Theory & Applications, 29(9):‍1211-1214 (in Chinese).

[39]YetendjeA, SeronMM, DonáJAD, et al., 2010. Sensor fault-tolerant control of a magnetic levitation system. International Journal of Robust and Nonlinear Control, 20(18):2108-2121.

[40]ZhaiMD, LongZQ, LiXL, 2019. Fault-tolerant control of magnetic levitation system based on state observer in high speed maglev train. IEEE Access, 7:31624-31633.

[41]ZhangLP, GongDL, 2018. Passive fault-tolerant control for vehicle active suspension system based on H2/H approach. Journal of Vibroengineering, 20(4):1828-1849.

[42]ZhouDF, YuPC, WangLC, et al., 2017. An adaptive vibration control method to suppress the vibration of the maglev train caused by track irregularities. Journal of Sound and Vibration, 408:331-350.

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2023 Journal of Zhejiang University-SCIENCE