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The yaw stability of a vehicle is crucial to vehicle safety in steering manoeuvres. In this paper, a fuzzy-logic controller is designed for improving vehicle yaw stability by corrective yaw moment generated from differential braking so that the yaw rate and body sideslip angle can trace their desired values. An 8-DOF vehicle model with nonlinear tire characteristic is developed to capture the vehicle longitudinal, lateral, yaw and roll motion, and four wheel rotation motion. The body sideslip angle is estimated by a 3-DOF vehicle model. Simulations of J-turn and lane change are carried out and the simulation results show the effectiveness of the fuzzy-logic controller for improving vehicle yaw stability.