Title :
Analysis and control of nonlinear actuator dynamics based on the sum of squares programming method
Author :
Nemeth, Balazs ; Gaspar, Peter
Author_Institution :
Syst. & Control Lab., Inst. for Comput. Sci. & Control, Budapest, Hungary
Abstract :
The paper analyses the reachability characteristics of the brake system in order to determine its abilities for the entire vehicle system. The method is based on the nonlinear polynomial Sum-of-Squares programming method, in which the shape of the reachable set of the brake is calculated. Since the method can be applied to other actuators, a theory-based structure can be built for the coordination and reconfiguration of the actuators. The method is illustrated at various velocities and road conditions.
Keywords :
actuators; brakes; polynomials; road vehicles; actuator coordination; actuator reconfiguration; brake system reachability characteristics; nonlinear actuator dynamics analysis; nonlinear actuator dynamics control; nonlinear polynomial sum of squares programming method; road conditions; theory-based structure; vehicle system; Actuators; Polynomials; Programming; Stability analysis; Tires; Vehicles;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878084
