Abstract
This paper proposes a robust $\boldsymbol{H}_{\infty}$ dynamics controller for the all-wheel independent steer vehicle. The uncertainties generated by varying parameters such as the mass and moment of inertia are considered. In addition, the time delay of the electric vehicle would degenerate the performance of the system. Therefore, a robust $\boldsymbol{H}_{\infty}$ dynamics controller is designed with the consideration of the time delay in the system. Norm-bounded method is used to describe the uncertainties in the system. Finally, two cases of simulation are conducted to carry out the performance of the proposed controller.
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