Time-Delay Control based on a Nonlinear Vehicle Lateral Dynamics

Integrated vehicle dynamics control (IVDC) consists of active front steering (AFS) and direct yaw moment control (DYC) which controls both the sideslip angle and the yaw rate of a vehicle. Most controllers are based on a bicycle model which considers each of the lateral dynamics terms very simply, and linearizes many parts including the tire forces. This paper proposes a time-delay control (TDC), derived from a nonlinear four-wheel vehicle model. We reform the state equations and regards the tangent function of the steering angle as a control input. In this way, we can formulate the applicable state-space representation, and apply time-delay estimation (TDE) scheme to it. The proposed controller is computationally simple and estimates uncertainties precisely. The effectiveness of the proposed controller is verified compared with TDC based on a bicycle model through CarSim simulations.