a new direct yaw moment control with lateral forces effect consideration

direct yaw moment control systems (dyc) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the control yaw moment (cym). in order to achieve the superior control performance, intelligent usage of lateral forces is also required. the lateral wheel forces have an indirect effect on the cym and based upon their directions, increase or decrease the amount of cym magnitude. in this paper, a systematic and applicable algorithm is proposed to use the lateral force in the process of yaw controlling optimally. the control systems are designed based on the proposed algorithm. this system includes yaw rate controller and wheel slip controllers which are installed separately for each wheel. both of the mentioned control systems are designed on the basis of the fuzzy logic. finally, the capabilities of the proposed control systems are evaluated in a four wheel drive vehicle, for which, the traction of each wheel can be controlled individually. it is shown that considering the lateral force effect offers significant improvement of the desired yaw rate tracking