A new fault-tolerant longitudinal control allocation is developed in this paper in order to distribute the different torques considering that the vehicle involved is an electrical four wheel driving vehicle. Its purpose is to keep an acceleration set-point given by the driver and to reckon with the wheels slip that can occur in an off-road terrain. The method is based on a constrained dynamic pseudo-inverse allocation.
No takes yet. Share an insight, caveat, or question.
Vera et al. (2023) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: