Fixed-Time Safe-by-Design Control for Active Vehicle Suspension Systems with the X-Dynamics
摘要
This work presents a fixed‑time safe‑by‑design control strategy for active vehicle suspension systems that simultaneously enforces safety constraints, achieves energy efficiency, and rejects disturbances. Asymmetric time‑varying barrier Lyapunov functions are developed to guarantee fixed‑time convergence while maintaining displacement and velocity within prescribed bounds, and a novel fixed‑time auxiliary state system is introduced to address actuator saturation. By exploiting the beneficial nonlinear characteristics of a bioinspired X‑shaped reference model, the proposed method significantly reduces control energy compared with conventional controllers. Experimental results demonstrate the effectiveness and practicality of the approach, confirming its robustness, efficiency, and superiority over existing methods.