Adaptive fault tolerance in automotive vehicle using control allocation based on the pseudo inverse along the null space for yaw stabilization

Yaw instability of automotive vehicles occurs dangerous accidents particularly while driving on wet or icy surfaces. Considering wet or icy situations as faults, fault tolerant controllers are suitable to handle the control of automotive vehicles. In order to have yaw stability and increasing maneuverability and safety of faulty systems, using control allocation methods are good choices. This paper proposes a control allocation method based on the pseudo inverse along the null space of the control matrix (PAN) to establish lateral stabilization in automotive vehicle.