The paper proposes a set-based analysis of steering and braking actuator integration in order to improve the reconfiguration strategy of lateral vehicle control. The purpose is to examine the improvement possibilities of the stabilization abilities through actuator integration. The results are applied to the theoretical basis of the actuator selection strategy in the reconfigurable control. In the analysis the computation method of the maximum Controlled Invariant Sets based on the nonlinear Sum-of-Squares (SOS) programming is used. The analysis considers the nonlinear characteristics of the tyre, the velocity and the tyre-road conditions which significantly determine the stability regions in the lateral dynamics. Thus, the resulting sets provide information about the stabilization abilities of the actuators for the entire vehicle system. The examination of the integrated actuation in the reconfiguration strategy is illustrated through various vehicle manoeuvres.
- Actuator reconfiguration
- Integrated vehicle control
- Set-based analysis
ASJC Scopus subject areas
- Control and Systems Engineering