So, variable structure control theory is used in Angle stabilization of roll, and model - following variable structure control theory is used in acceleration stabilization of pitch and yaw.
Via the yaw rate and lateral acceleration sensor (B24/15) forces are recorded which want to rotate the vehicle about the center of gravity.
通过摇摆率和横向加速度传感器，使车辆围绕其重心旋转的力量就会被记录下来。
3
The automobile which adopted the steering control algorithm can keep a constant steering characteristic; and its stability is improved through yaw rate and lateral acceleration feedback control.