Analysis and control of nonlinear actuator dynamics based on the sum of squares programming method

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.