Abstract
This paper examines the feasibility of the proposed control in the small-scale electric vehicle with two independent motors equipped at the rear axles. The direct yaw moment control system is designed with the application of model matching control theory. For realizing the proposed system in the actual electric vehicle, it is necessary to estimate the side slip angle instead of measuring it directly. The velocity dependent observer is proposed in this paper. The experiments by using actual small-scale electric vehicle are carried out to verify the effectiveness of the proposed chassis control system on lateral stability at J-turn test and Lane change tests.