Fuzzy Control for Nonlinear Suspension Systems of In-Wheel Motor Drive Electric Vehicles Under Intermittent Event-Triggered Communication

Under open-network environments with constrained bandwidth, the vehicle suspension control systems are particularly susceptible to denial-of-service attacks, which can cause intermittent communication. To address this challenge, a resilient fuzzy control method is proposed for nonlinear suspension systems of in-wheel motor drive electric vehicles under intermittent event-triggered communication. Firstly, based on a nonlinear quarter-vehicle suspension model, a switched interval type-2 fuzzy suspension model is established to describe both the suspension nonlinear dynamics and intermittent communication under denial-of-service attacks. Secondly, to maintain effective communication under denial-of-service attacks, an intermittent event-triggered strategy with dual adaptive thresholds is proposed to alleviate communication resource constraints and mitigate the adverse effects of intermittent communication. Thirdly, to guarantee the suspension performance under denial-of-service attacks, a resilient fuzzy control method is proposed for vehicle suspension systems. The piecewise Lyapunov functions and matrix inequality are employed to ensure the exponential stability and desired performance requirements. Finally, in comparison with existing vehicle suspension control methods, the proposed resilient fuzzy control method demonstrates significant performance advantages by the hardware-in-the-loop experiments.