Stabilizing electric vehicle lateral motion with considerations of state delay of active front steering system through robust control

This paper presents a delayed robust control method for stabilizing vehicle lateral motion of electric vehicle equipped with active front steering system. The main objective is to improve electric vehicle lateral handling performance by dealing with the time delay problem. To address the challenge, the time delay embedded in steering system is concentrated in vehicle state. By defining Lyapunov-Krakovskii functional, sufficient conditions of the state-delayed robust controller are obtained and solved in terms of linear matrix inequalities. Simulations with a high-fidelity CarSim full-vehicle model demonstrate that the proposed method can stabilize electric vehicle lateral motion and enhance lateral handling performance.