Research on adaptive control of input time delay for vehicle electronic stability control system

Electronic Stability Control is widely used in commercial vehicles. But the lag of pneumatic differential braking causes the lag of yaw moment input. And the actual vehicle in the process of driving there will be a variety of uncertain disturbances. For the above problems, a system control scheme with unknown disturbance and input delay is designed based on adaptive control theory. Firstly, a two-degree-of-freedom model of the vehicle is established, and the yaw moment generated by differential braking during the anti-roll control of Electronic Stability Control was added to the model as the external delay input. Then, a controller is designed for this system by combining adaptive control theory with integral transformation. The stability is also analyzed. Finally, modeling and simulation are carried out in Simulink, and the MATLAB/SIMULINK results verify the effectiveness of the control scheme.