340 Int. J. Vehicle Systems Modelling and Testing, Vol. 13, No. 4, 2019 Copyright © 2019 Inderscience Enterprises Ltd. Design of active yaw controller integrated with ABS and TCS for multi-wheeled vehicles H. Ragheb* Automotive Engineering Department, Military Technical College, Egyptian Armed Forces, Al-Khalifa Al-Maamoon Street, Kobry Elkobbah, Cairo, Egypt Email: h.ragheb@mtc.edu.eg *Corresponding author M. El-Gindy Faculty of Engineering and Applied Science, Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, 2000 Simcoe Street North, ON L1H 7K4, Canada Email: Moustafa.El-Gindy@uoit.ca Abstract: Prodigious improvements have been attained in active vehicle safety systems region depending on different control systems. Active yaw control is one of these systems which target the vehicle stability in case of any rapid and/or severe manoeuvre. This paper presents the design of active yaw control system for (8 × 8) multi-wheeled vehicle and its integration with other safety control systems such as anti-lock braking system (ABS) and traction control system (TCS). A simplified vehicle model ‘bicycle model’ is employed to predict the desired vehicle yaw behaviour depending on road condition and driving situation. TruckSim-MATLAB/Simulink vehicle model was developed to verify the proposed integrated safety control system. The developed integrated active yaw controller with ABS and TCS succeeded in improving vehicle directional stability and traction performance. Furthermore, it should be mentioned that the road friction affects the controller efficiency as it limits the available braking torque to be used by the controller. Keywords: active yaw control; AYC; PID; anti-lock braking system; ABS; traction control system; TCS; TruckSim; MATLAB/Simulink; multi-wheeled vehicles. Reference to this paper should be made as follows: Ragheb, H. and El-Gindy, M. (2019) ‘Design of active yaw controller integrated with ABS and TCS for multi-wheeled vehicles’, Int. J. Vehicle Systems Modelling and Testing, Vol. 13, No. 4, pp.340–357. Biographical notes: H. Ragheb is a Lecturer in Automotive Engineering Department at Military Technical College (MTC). He received his BSc in Mechanical Engineering from the Military Technical College in Cairo in 2000. In 2007, he achieved his MSc in Off-road Vehicle Mobility from MTC. In