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In this paper, the authors propose a side-slip model following direct yaw moment control (DYC) by sliding control. In order to calculate the control yaw moment and estimate the vehicle side-slip, an onboard nonlinear tire model is used. Both computer simulation and experiments with a real vehicle equipped with the control system yield results showing the efficacy of the control system in improving active safety.
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Kano et al. (1999) studied this question.
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