It has become popular to control vehicle manoeuvering with independent brakes for the avoidance of spin and drift-out. To ensure effective control, we applied sliding-mode theory, which enabled a robust control system against various driving conditions including changes in velocity, road friction and vehicle weight. By estimating the tyre status with a simple tyre model, the side slip angle of vehicle and road friction, we made it possible to easily install the system on vehicles. Our system is also equipped with parameter identification for correcting model errors. We confirmed the effectiveness of our system through full vehicle simulation and field tests.