Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control. 1. Introduction In vehicle dynamic control of road-vehicle, controlling the lateral dynamic motion is very important where it will determine the stability of the vehicle. One of the prominent approaches that are reported in the literature for lateral dynamics control is a yaw stability control system. In order to design an effective control system, it is essential to determine an appropriate element of yaw stability control system. In this paper, the elements of yaw stability control system, that is, vehicle dynamic models, control objectives, active chassis control, and its control strategies as depicted in Figure 1, are extensively reviewed. Figure 1: Yaw stability control system for vehicle lateral dynamic. The linear and nonlinear vehicle models that described the behaviour of lateral dynamic are explained for controller design and evaluation purpose. To achieve the control objectives, it is essential to control the variables of yaw rate and sideslip angle in order to ensure the vehicle stable. It is required that the actual yaw rate and sideslip angle have fast responses and good tracking capability in following the desired responses. During critical driving condition or manoeuvre, inappropriate commands by the driver to control the steering and braking can cause the vehicle to become unstable and lead to an accident. Therefore, an active control for yaw stability control system is essential to assist the driver to keep the vehicle stable on the desired path. By implementing an active chassis control of steering or braking or integration of both systems, the active yaw control system can be realized. In real driving condition,
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