Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

Table 2

Rule base of the fuzzy logic unit.

NB	NB	NB
NS	NB	NS
ZE	NB	ZE
PS	NB	PS
PB	NB	PB
NB	PS	PS
NS	PS	PB
ZE	PS	PB1+
PS	PS	PB2+
PB	PS	PB3+
NB	NS	NS
NS	NS	ZE
ZE	NS	PS
PS	NS	PB
PB	NS	PB1+
NB	PB	PB
NS	PB	PB1+
ZE	PB	PB2+
PS	PB	PB3+
PB	PB	PBPB4+
NB	ZE	ZE
NS	ZE	PS
ZE	ZE	PB
PS	ZE	PB1+
PB	ZE	PB1+