  This article is devoted to addressing the cloud control of connected
vehicles, specifically focusing on analyzing the effect of bi-directional
communication-induced delays. To mitigate the adverse effects of such delays, a
novel predictor-observer structured controller is proposed which compensate for
both measurable output delays and unmeasurable, yet bounded, input delays
simultaneously. The study begins by novelly constructing an equivalent
delay-free inter-connected system model that incorporates the
Predictor-Observer controller, considering certain delay boundaries and model
uncertainties. Subsequently, a stability analysis is conducted to assess the
system's robustness under these conditions. Next, the connected vehicle lateral
control scenario is built which contain high-fidelity vehicle dynamic model.
The results demonstrate the controller's ability to accurately predict the
system states, even under time-varying bi-directional delays. Finally, the
proposed method is deployed in a real connected vehicle lateral control system.
Comparative tests with a conventional linear feedback controller showcase
significantly improved control performance under dominant bi-directional delay
conditions, affirming the superiority of the proposed method against the delay.
