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.

因此，本文采用了变结构控制理论设计倾斜角稳定系统，采用了模型跟踪变结构控制理论设计俯仰、偏航通道的加速度稳定回路。

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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。

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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.

利用所提出的前轮转向控制算法，可以使汽车具有不变的转向特性，通过横摆角速度和侧向加速度反馈控制，提高了汽车的稳定性。

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