I've never had a better relationship with clients with another model. They get to understand more of what a real development project is. We even invite them to our Cycle Demos for their project.
The best way to not get behind is to not set a deadline. Instead set a scope and budget. Communication is key. More often than not, adding developers does not speed up a project, only adjusting scope does.
Adjust Early. Adjust Accordingly. Adjust Often.