Fault-Tolerant Vertical Load Redistribution of an Active Suspension Under Yaw-Rate and Roll-Rate Sensor Faults

This study presents a fault-tolerant control framework for an EMA-based active suspension under yaw-rate and roll-rate sensor faults. Instead of deactivating active suspension functions in the presence of sensor failures, the proposed approach maintains vertical load redistribution within feasible operating conditions. A hierarchical control structure is employed, integrating a multi-residual-based fault detection and isolation scheme with sensor-reliability-based control reconfiguration. The EMA is modeled at the force level, enabling direct integration into vehicle-level dynamics without explicitly modeling internal electrical dynamics. The proposed method is evaluated using ISO 3888-1 double lane change simulations, where peak tire vertical forces and combined tire forces are used as performance metrics. Simulation results indicate that the proposed framework mitigates excessive load concentration compared to passive suspension under sensor fault conditions.