针对四轮驱动汽车，应用模糊理论设计了牵引力控制系统的油门控制器和制动控制器。
Fuzzy theory was used to design throttle controller and braking controller of traction control system for four-wheel drive vehicles.
然后建立了主动横摆控制的控制逻辑，通过加入制动防抱死系统和牵引力控制系统，构成了电子稳定程序的控制逻辑。
Then we build the control logic of active yaw control, by adding anti-braking system and traction control system which constitute the ESP controller.
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