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

Table 4

Decision on the target brake wheel for the trailer.

Reference; yaw rate	Actual yaw; rate	Comparison	Target brake; wheel
			6
			5
			—
			6
			5
			—
			5
			6
			5
			6
			5
			6
			—

“—” denotes no brake action.