This paper presents a free model based fuzzy controller that integrates front steering control and front braking distribution forces to improve vehicle handling and stability. Thus, the yaw rate and the sideslip angle of the vehicle are controlled to follow their target values. The main advantages of fuzzy methods are their simplicity and their good performance in controlling non-linear systems. Simulation results show the effectiveness of the proposed control system during different manoeuvres (J-turn and change lane) and driving conditions (dry pavement and snow).
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