Combined slip brush tire model with abs and side force

Objective: clear all close all clc Fz=3000;mu=0.8;lt=0.2;kt=4e6;ky=2.275e6; Cs=lt^2*kt/2; Ca=lt^2*ky/2; slip_angle=3*pi/180; is(1)=0;is(2)=0.15;is(3)=1.0; for i=1:3 temp(i)=sqrt((Cs*is(i))^2+(Ca*tan(slip_angle))^2); lc=mu*Fz*(1-is(i))*lt/(2*temp(i)); if lc>=lt Fy(i)=Ca*tan(slip_angle)/(1-is(i)) else Fy(i)=mu*Fz*Ca*tan(slip_angle)/temp(i)*(1…