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This paper proposes a yaw rate tracking control method that distributes the driving/ braking force exerted on vehicles at the time of negotiating sharp turns and driving at high speeds. The proposed method employs quadratic programming to distribute the driving/braking force in order to equalize the tire load factor on all wheels and consider the limits of the driving/braking force. The yaw rate tracking performance can be improved even while driving at high speeds and negotiating sharp turnsdoi:10.1299/jsdd.6.417 fatcat:t5kcwhlw7zeylffwa6m53sxwlq