Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Figure 11

Estimated lateral tire forces based on the estimator D1 (estimator D1 is based on the transient tire model without yaw rate sensors). (a) Front left lateral tire force. (b) Front right lateral tire force. (c) Rear left lateral tire force. (d) Rear right lateral tire force.

(a)

(b)

(c)

(d)