  The focus of this paper is an integrated, fault-tolerant vehicle supervisory
control algorithm for the overall stability of ground vehicles. Vehicle control
systems contain many sensors and actuators that can communicate with each other
over communication networks. The proposed supervisory control scheme is
composed of a high-level controller that creates a virtual control input vector
and a low-level control allocator that distributes the virtual control effort
among redundant actuators. Virtual control input incorporates the required
traction force, yaw, pitch, and roll moment corrections, and the lateral force
correction to ensure stability while following a maneuvering reference
initiated by the driver. Based on the virtual control input vector, the
allocation module determines front steering angle correction, rear steering
angle, traction forces at each tire, and active suspension forces. The proposed
control framework distinguishes itself from earlier results in the literature
by its ability to adapt to failures and uncertainties by updating its
parameters online, without the need for fault identification. The control
structure is validated in the simulation environment using a fourteen degree of
freedom nonlinear vehicle model. Our results demonstrate that the proposed
approach ensures that the vehicle follows references created by the driver
despite the loss of actuator effectiveness up to 30% higher longitudinal
maneuver velocity and approximately 35% lower roll and pitch angles during
steering with representative driving scenarios.
