Nonlinear automotive actuator analysis based on sum of squares programming

Balazs Nemeth, Peter Gaspar, Tamas Peni
2014 2014 European Control Conference (ECC)  
The paper analyses the maximum Controlled Invariant Sets of vehicle actuators. In the calculation of the shape of the sets a nonlinear polynomial Sum-of-Squares (SOS) programming method is applied. The aim of the analysis is to identify the similarities and differences between the different actuator interventions and provide a theoretical basis for their coordination. The maximum Controlled Invariant Sets of the steering and the brake control systems are analyzed at various velocities and road
more » ... elocities and road conditions. In the analysis the nonlinear characteristics of the lateral tire force are considered with a polynomial approximation. The results of the analysis are illustrated through a simulation example. B. Németh and T. Péni are
doi:10.1109/ecc.2014.6862429 fatcat:s6wfd2lqljclpitygnxrf6jcu4