Protocol-Scheduling Security Control of Nonlinear Minecart Active Suspension Systems on Uneven Road Surfaces

Confronted with the intricate road conditions within mine tunnels, ensuring the stability and reliability of the minecart active suspension systems (ASSs) at all times poses a formidable challenge. To this end, the protocol-scheduling security control issue of nonlinear minecart ASSs is investigated in this article. Different from some existing literature that employs fuzzy techniques to depict time-varying load mass or nonlinear sprung and damping characteristics, this article incorporates interval type-2 fuzzy technique and semi-Markov behavior to simultaneously capture the uncertainties of the ASSs and load variations resulting from uneven road surfaces or random ore loading and unloading. Considering data collisions, the stochastic communication protocol subjected to false data injection attacks is first explored in suspension system networks. Addressing the challenge of acquiring state information under complex conditions, an observer-based fuzzy controller is designed by introducing the polynomial degree. Stability conditions are derived based on both polynomial-based controller and Lyapunov functions, which degrade conservatism by increasing the polynomial degree and extend the nonpolynomial and general fuzzy methods found in existing literature. Experimental results demonstrate that the designed controller is capable of resisting various types of road disturbances and enhances the energy-saving outcomes of current research methods.