Delay-dependent anti-disturbance control of electric vehicle based on collective observers

An improved anti-disturbance strategy is proposed to guarantee lateral stability for electric vehicles with external disturbance and input time delay. Firstly, the T-S fuzzy model is applied to describe active front wheel steering system (AFS). Based on the obtained model, a new collective observers including disturbance observer and state observer are structured to estimate disturbance and state simultaneously. Then, a compound control is designed by using the estimation values of collective observers. During the design process, a novel path-independent fuzzy Lyapunov-Krasovskii function (FLKF) and slack variable matrices are introduced to reduce conservatism. Finally, two simulation cases are implemented on Matlab/Simulink-Carsim to show the effectiveness of the proposed method.