An integrated control system of active rear wheel steering (ARS) and direct yaw moment control (DYC) is presented in this paper. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handlingperformance is limited to a certain extent only by steering control. The direct yaw moment control using braking and/or driving forces is effective not only in linear but also nonlinear ranges of tire friction circle. The proposed control system based ona model matching controller is verified to improve vehicle handling and stability.
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