Presented in this research paper is an integrated direct yaw moment control (DYC) and active front steering (AFS) for an uncertain vehicle lateral dynamics model considering network-induced communication delay, which is a time-varying continuous function with a known upper bound. Firstly, we consider tire cornering stiffness as a non-linear norm-bounded uncertain system that is modeled by fuzzy membership functions, and then vehicle lateral dynamics model is expressed by a set of linear Takagi-Sugeno (T-S) uncertain fuzzy models. Secondly, since the network-induced communication delay in vehicle control system is an inherent reason for stability and performance degradation, we derive a robust delay-dependent $H_{\infty }$ control methodology via the Lyapunov-Krasovskii functional for stability and performance conditions of the closed-loop system. For the synthesis, the robust control method is employed within the T-S fuzzy-model-based analysis framework and formulations are performed based on the solution of delay-dependent linear matrix inequalities (LMIs). The simulation study is presented using MATLAB/Simulink to show the achieved improvements in tracking variables via the designed robust fuzzy $H_{\infty }$ state-feedback controller. The proposed fuzzy robust delay-dependent controller is compared with a linear robust delay-dependent controller to clearly show the tracking improvements for different road conditions. Moreover, a performance-based analysis is carried out to demonstrate the advantage of the design with respect to different delay values. It is confirmed from the analysis results that the proposed fuzzy controller can successfully stabilize and possess improved tracking performance for vehicle lateral motion control.

本研究报告提出了一种综合的直接偏航力矩控制（DYC）和主动前向转向（AFS），用于考虑网络诱导的通信延迟的不确定车辆横向动力学模型，该模型是具有已知上限的时变连续函数。首先，我们将轮胎的转弯刚度视为一个由模糊隶属函数建模的非线性范数有界的不确定系统，然后通过一组线性的Takagi-Sugeno（TS）不确定模糊模型来表达车辆横向动力学模型。其次，由于网络引起的车辆控制系统中的通信延迟是稳定性和性能下降的内在原因，因此我们得出了鲁棒的与延迟相关的信息$H_{\infty }$通过Lyapunov-Krasovskii功能控制方法，以实现闭环系统的稳定性和性能条件。为了进行综合，在基于TS模糊模型的分析框架内采用了鲁棒控制方法，并基于依赖于延迟的线性矩阵不等式（LMI）的解决方案进行了公式化。使用MATLAB / Simulink进行了仿真研究，以显示通过设计的鲁棒模糊算法在跟踪变量方面取得的改进$H_{\infty }$状态反馈控制器。将所提出的模糊鲁棒时滞相关控制器与线性鲁棒时滞相关控制器进行比较，以清楚地显示出针对不同路况的跟踪改进。此外，进行了基于性能的分析，以展示该设计相对于不同延迟值的优势。分析结果证实，所提出的模糊控制器能够成功稳定并具有改善的车辆横向运动控制跟踪性能。