Event-Triggered Fault-Tolerant Control for Vehicle Rollover Avoidance Based on an Active Suspension with Robustness Against Disturbances and Communication Delays

In this paper, a robust state-feedback event-triggered fault-tolerant controller is designed for the active suspension of a vehicle in order to guarantee roll stability. Actuator faults have been modelled as a polytope. Stability and robustness of the system have been under Lyapunov and $$H_\infty $$ criteria, respectively. The validation of the proposed controller has been done with the vehicle dynamics simulation software CarSim.