Fault-tolerant distributed feedback global chassis control

We propose an approach to fault-tolerant feedback global chassis control employing a reconfiguration of distributed optimization scheme in the feedforward path according to a precompiled bank of faulty scenarios and corresponding switching topologies of the network of computation and actuation nodes of a single-wheel electrical car powertrain. This intuitive idea is underpinned by the functional redundancy provided by the distribution of the overall global chassis computational control task amongst a set of collaborating processors and the associated actuation in implementing a prespecified maneuver. Our work represents a step towards novel cyber-physical design approaches in realizing complex behavior of vehicle dynamics.