Fault tolerant longitudinal control of an over-actuated off-road vehicle

This paper introduces a new fault-tolerant longitudinal control allocation developed in order to improve the response of an off-road, four wheel drive, two steering axles vehicle to an acceleration set-point handled by the driver. This control allocation, based on the Dynamic Weighting Control Allocator from Sadien (2020), is based on a pseudo-inverse allocation method and is constrained by the maximum torque available and the load transfer at each wheel. Copyright (c) 2022 The Authors. This is an open access article under the CC-BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)