Compensation of time delay effect in vehicle yaw stability control systems by using communication disturbance observer

Time delay is a control system design factor, which reduces the performance of the system and makes the system unstable in the worst case. many methods have been proposed in the literature for time delay compensation and the smith predictor is the most widely used. although the smith predictor is easy to implement, the delay compensation performance degrades as the time delay model used by the predictor differs from the actual time delay in the system. communication disturbance observer has been proposed as an alternative method to the smith predictor and it has been applied to the bilateral teleoperation systems, robotic manipulators and network-based gait rehabilitation systems. this paper deals with the application of communication disturbance observer to the vehicle yaw stability control. the performance of communication disturbance observer is tested for time varying delays by using several simulations and the results are compared with the smith predictor results.