Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle

Table 3

Decision on the target brake wheel for the tractor.

Reference; yaw rate	Actual yaw; rate	Comparison	Target brake; wheel
			2
			3
			—
			4
			1
			—
			1
			2
			1
			2
			3
			4
			—

“—” denotes no brake action.