not a complete solution but you can work along these lines
<input type="text" ng-model="expiry.year" ng-change="expiration = expiry.year + expiry.month, expiry.date" />
<input type="text" ng-model="expiry.month" ng-change="expiration = expiry.year + expiry.month, expiry.date" />
<input type="text" ng-model="expiry.date" ng-change="expiration = expiry.year + expiry.month, expiry.date" />
it does not handle undefined etc case. better would be to write a function and do the concatenation in controller...
<input type="text" ng-model="expiry.year" ng-change="expirationUpdated()" />
<input type="text" ng-model="expiry.month" ng-change="expirationUpdated()" />
<input type="text" ng-model="expiry.date" ng-change="expirationUpdated()" />
do it in function
var expirationUpdated = function() { ///concate logic here}