Abstract
The purpose of this study is motion control of the vehicle with wheel side slips, which is generally difficult to control. The vehicle motion is governed friction force largely generated by each tire. The friction force varies depending on the amount of slip between tire and road surface. The motion control of the vehicle has been studied in the small area of the tire slip. However, in motor racing, such as rally, drifting with large side slip which is in the nonlinear region of the tire friction force is often used when turning. By operating steering, accelerator, and brake skillfully, the driver stabilizes unstable behavior of the vehicle and runs the course as wanted. Therefore, it is considered that control of the motion with the large side slip such as the drifting becomes possible, it is useful in terms of a new motion control of the vehicle.
