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    Control Allocation Approach Using Differential Steering to Compensate for Steering Actuator Failure by Alexander Seiffer, Michael Frey, Frank Gauterin

    Published 2024-01-01
    “…However, the vehicle dynamics during the failure-induced transition from actuator-based to differential steering control have not been thoroughly investigated. In this work, we utilize a cascaded vehicle dynamics control approach with control allocation to distribute the total drive and steering torques to the available actuators in an overactuated chassis system. …”
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