Abstract
In designing a direct yaw-moment control system to avoid spin and drift-out by applying brakes independently, it is crucial to adapt the control system to various conditions such as vehicle specifications and changes in road friction and vehicle velocity. To achieve enough robustness to these, we applied sliding-mode theory to design the controller. To realize the effective brake force control, we introduced a simple tire model which deals with nonlinear and combined tire forces. We also considered the adaptation algorithm and evaluated if it improves the robustness. We confirmed the effectiveness of our system through full vehicle simulation and field tests.